CN116880347A - Two-dimensional position comparison system for motion control - Google Patents

Abstract

The invention relates to the field of industrial automation systems and discloses a two-dimensional position comparison system for motion control. The system includes: a software motion controller, which is equipped with a non-real-time operating system and a real-time operating system; the real-time control system is equipped with a motion control core, a position comparison parameter setting unit and a position comparison data processing unit; two-dimensional comparison Module, the two-dimensional comparison module is connected to the software motion controller for communication. The two-dimensional comparison module is equipped with a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, and a position comparison unit; a driver, and a network interface chip. There is an external driver; a motor, a communication connection between the driver and the motor, and a communication connection between the motor and the FPGA programmable logic processing unit; a target to be controlled, and a communication connection between the target to be controlled and the position comparison unit. The invention can realize high-precision and high-efficiency motion control.

Description

Two-dimensional position comparison system for motion control

Technical field

The invention relates to the field of industrial automation systems, and in particular to a two-dimensional position comparison system for motion control.

Background technique

In the field of precision automation control, with the rapid development of visual technology, in addition to controlling position and speed, more and more production lines have higher and higher requirements for the inspection quality of the shape and nameplate information of each product. Every product needs to be inspected as required. In current inspections, precise position control is required, such as camera control, dispensing switch valve control, etc. In order to achieve this goal, currently commonly used solutions are generally divided into two types. One is to use the high-speed position comparison function of the servo driver to pre-store the point in the driver buffer area in advance. When the feedback position reaches the set position, the pulse signal is triggered; On the bus controller, the extremely short communication cycle of the bus is used to periodically obtain and receive instructions, and then compare the instruction position and the encoder position. When the set point is reached, the IO signal is triggered to control the camera. . Both solutions have their own application scenarios and shortcomings, and cannot take into account the accuracy and efficiency of motion control.

Contents of the invention

The main purpose of the present invention is to solve the technical problem of being unable to take into account both the accuracy and efficiency of motion control.

A first aspect of the present invention provides a two-dimensional position comparison system for motion control. The two-dimensional position comparison system for motion control includes:

A software motion controller, which is equipped with a non-real-time operating system and a real-time operating system;

The real-time control system is provided with a motion control core, a position comparison parameter setting unit and a position comparison data processing unit;

The non-real-time control system is communicatively connected with the motion control core;

The motion control core is communicatively connected to the position comparison parameter setting unit;

The motion control core is communicatively connected to the position comparison data processing unit;

Two-dimensional comparison module, the two-dimensional comparison module is communicatively connected with the software motion controller, and the two-dimensional comparison module is provided with a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, position comparison unit;

The network interface chip is communicatively connected to the motion control core;

The network interface chip is communicatively connected to the bus control chip;

A driver, the network interface chip is externally connected to the driver;

A motor, the driver is communicatively connected to the motor, and the motor is communicatively connected to the FPGA programmable logic processing unit;

The MCU microprocessor is communicatively connected to the FPGA programmable logic processing unit;

The FPGA programmable logic processing unit is communicatively connected to the position comparison unit;

The position comparison unit is communicatively connected to the real-time comparison information feedback unit;

The real-time comparison information feedback unit is communicatively connected to the position comparison data processing unit;

A target to be controlled is communicatively connected to the position comparison unit.

Optionally, in a first implementation manner of the first aspect of the present invention, a user application program and location comparison parameter settings are provided in the non-real-time operating system.

Optionally, in the third implementation manner of the first aspect of the present invention, the communication connection between the non-real-time control system and the motion control core includes:

The user application program communicates with the motion control core in a memory sharing manner.

Optionally, in the fourth implementation manner of the first aspect of the present invention, the communication connection between the network interface chip and the motion control core includes:

The software motion controller is provided with a first real-time bus interface;

The two-dimensional position comparison module is provided with a second real-time bus interface and a third real-time bus interface;

The motion control core communicates with the network interface chip through the first real-time bus interface and the second real-time bus interface;

The network interface chip communicates with the driver through the third real-time bus interface.

Optionally, in a fifth implementation manner of the first aspect of the present invention, the two-dimensional position comparison module includes a pulse signal interface, and the position comparison unit communicates with the real-time comparison information feedback unit according to the pulse signal interface. connection, the target to be controlled is communicatively connected with the position comparison unit according to the pulse signal interface.

Optionally, in the sixth implementation manner of the first aspect of the present invention, the two-dimensional position comparison module is provided with two encoder feedback interfaces, and the third real-time bus interface is connected to the two drivers, so The driver is correspondingly connected to the motor; the motor is communicatively connected to the FPGA programmable logic processing unit according to the encoder feedback interface.

Optionally, in a seventh implementation manner of the first aspect of the present invention, the target to be controlled is a camera.

Optionally, in an eighth implementation manner of the first aspect of the present invention, the target to be controlled is a laser interface.

In the embodiment of the present invention, a non-real-time operating system and a real-time operating system are both installed in the software motion controller in the two-dimensional position comparison system of motion control. Non-real-time operating systems can handle some tasks that do not require real-time response, while real-time operating systems are designed to handle tasks that require real-time performance. By separating the two operating systems, the reliability and stability of the real-time control system can be ensured. Motion control core, position comparison parameter setting unit and position comparison data processing unit: The real-time control system is equipped with a motion control core, position comparison parameter setting unit and position comparison data processing unit. The motion control core is responsible for implementing the algorithms and logic of motion control. The position comparison parameter setting unit is used to set motion control parameters, and the position comparison data processing unit is used to process position comparison data. These components work together to achieve accurate motion control. A communication connection is established between the non-real-time control system and the motion control core. This connection enables the monitoring, configuration and adjustment of motion control by non-real-time systems, thereby ensuring the stability and controllability of the entire system. The software motion controller establishes a communication connection with the two-dimensional comparison module. The two-dimensional comparison module is an independent module that includes components such as a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, and a position comparison unit. By communicating with the software motion controller, the 2D Compare module provides higher levels of motion control functionality and processing power. Through the network interface chip, the software motion controller can communicate with the motion control core and bus control chip. This connection method can realize data exchange and coordination with other devices or systems, increasing the flexibility and scalability of the control system. A communication connection is established between the driver and the motor and connected to the FPGA programmable logic processing unit. Such a connection method can achieve precise control and drive of the motor, allowing the motion control system to adjust the motor's speed, position, torque and other parameters as needed. To sum up, the structure and components of the software motion controller cooperate with each other to achieve high-precision and efficient motion control.

Description of the drawings

Figure 1 is a schematic diagram of a first embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention;

Figure 2 is a schematic diagram of a second embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention;

Figure 3 is a schematic diagram of a third embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention;

Figure 4 is a schematic diagram of a fourth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention;

Figure 5 is a schematic diagram of the fifth embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention;

Figure 6 is a schematic diagram of the sixth embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention;

Figure 7 is a schematic diagram of the seventh embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention;

FIG. 8 is a schematic diagram of an eighth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention.

Detailed ways

Embodiments of the present invention provide a two-dimensional position comparison system for motion control.

The terms "first", "second", "third", "fourth", etc. (if present) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects without necessarily using Used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., processes, methods, systems, products, or devices that comprise a series of steps or units and are not necessarily limited to those expressly listed. steps or units, but may include other steps or units not expressly listed or inherent to such processes, methods, products or apparatuses.

For ease of understanding, the specific process of the embodiment of the present invention is described below. Please refer to Figure 1, which is a first embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The two-dimensional position comparison system for motion control is include:

Software motion controller 201. The software motion controller 201 is provided with a non-real-time operating system 2011 and a real-time operating system 2012; the real-time control system is provided with a motion control core 20121, a position comparison parameter setting unit 20112 and a position comparison unit 20122. Parameter setting 20112 unit 20123; the non-real-time control system is communicatively connected with the motion control core 20121; the motion control core 20121 is communicatively connected with the position comparison parameter setting 20112 unit 20122; the motion control core 20121 is communicatively connected with the Position comparison parameter setting unit 20123 communication connection; two-dimensional comparison module, the two-dimensional comparison module is communicated with the software motion controller 201, and the two-dimensional comparison module is provided with a network connection chip, a bus control chip 2022, MCU microprocessor 2023, FPGA programmable logic processing unit 2024, position comparison unit 2025; the network interface chip 2021 is communicatively connected with the motion control core 20121; the network interface chip 2021 is communicatively connected with the bus control chip 2022 ; Driver 203, the network interface chip 2021 is externally connected to the driver 203; Motor 204, the driver 203 is communicatively connected to the motor 204, the motor 204 is communicatively connected to the FPGA programmable logic processing unit 2024; so The MCU microprocessor 2023 is communicatively connected with the FPGA programmable logic processing unit 2024; the FPGA programmable logic processing unit 2024 is communicatively connected with the position comparison unit 2025; the position comparison unit 2025 is with the real-time comparison information The feedback unit 2026 is communicatively connected; the real-time comparison information feedback unit 2026 is communicatively connected with the position comparison parameter setting unit 20123; the target to be controlled 205 is communicatively connected with the position comparison unit 2025.

Further, in one embodiment, reference can be made to Figure 2, which is a second embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. A user application is provided in the non-real-time operating system 2011. Program 20111 and position comparison parameter settings 20112.

In this optional embodiment, a user application program is set up in the non-real-time operating system, so that the user can customize and expand the functions of the software motion controller through programming or configuration. Users can write applications according to specific needs to implement customized motion control logic to meet specific control requirements. This flexibility makes the controller more customizable and adaptable to various complex control scenarios. Position comparison parameter settings are also set up in the non-real-time operating system, which means that users can adjust the motion control method and behavior by setting different parameters. For example, users can set parameters such as movement speed, acceleration, and position limits to meet specific movement needs. In this way, users can flexibly control the performance and behavior of the motion system and optimize and adjust it according to the actual situation. Software motion controllers are highly scalable by setting up user applications and position comparison parameter settings in a non-real-time operating system. Users can extend or improve the functionality of the controller by adding new applications or modifying position comparison parameter settings. In this way, the controller can adapt to changing and evolving control needs, maintaining compatibility with new technologies and applications. Integrating user applications and location comparison parameter settings into non-real-time operating systems simplifies the software development process. Developers can directly use the interfaces and functions provided by the operating system to quickly implement their own application logic, and can dynamically modify parameters for debugging and optimization during runtime. In this way, the development cycle can be greatly shortened, and development efficiency and product iteration speed can also be improved. Compared with the bus controller method, through the two-dimensional comparison module, extremely short cycles, such as 1us, can be used. Compared with the common two-dimensional position comparison module, the trigger condition must meet the minimum point where the coordinates enter the range of the in-position width and start to move away from the set coordinate point to trigger the signal. For exception handling, all processes can be monitored in real time through real-time interaction. It can also monitor the position comparison signal, confirm the results and make real-time adjustments.

Further, in one embodiment, reference may be made to FIG. 3 , which is a third embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The motion control core 20121 and the non-real-time control System 201 communication connection. The user application 20111 communicates with the motion control core 20121 in a memory sharing manner.

In this optional embodiment, the memory sharing method can realize real-time communication connection, allowing the user application program to exchange data with the motion control core in real time. This is critical for application scenarios that require fast response and real-time updates, such as robot control, precision instruments and equipment, etc. Communication through memory sharing can ensure the real-time performance of the control system and ensure the accuracy and real-time nature of the control instructions.

Further, in one embodiment, reference may be made to FIG. 4 , which is a fourth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The software motion controller 201 is provided with a first Real-time bus interface 2013; the two-dimensional position comparison module 202 is provided with a first real-time bus interface 2027 and a third real-time bus interface 2028; the motion control core 20121 passes the first real-time bus interface 2013 and the first real-time bus interface 2028. The real-time bus interface 2027 communicates with the network interface chip 2021; the network interface chip 2021 communicates with the driver 203 through the third real-time bus interface 2028.

In this optional embodiment, high real-time performance can be achieved by using a real-time bus interface for communication connection. The real-time bus interface has low latency and high data transmission rate, allowing control instructions and data to be transmitted and processed in real-time. This is very important for the motion control system, which can ensure the accuracy and timeliness of control instructions and improve the response speed and performance of the system. Real-time bus interfaces can efficiently transfer large amounts of data. Through the first real-time bus interface and the second real-time bus interface, the motion control core can perform fast and reliable data exchange with the network interface chip and the two-dimensional position comparison module. Through the third real-time bus interface, the network interface chip can perform efficient data transmission with the driver. In this way, the entire control system can achieve fast and effective data transmission, improving the overall efficiency and performance of the system.

Further, in one embodiment, reference may be made to FIG. 5 , which is a fifth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The two-dimensional position comparison module 202 includes a pulse signal interface. 2029. The position comparison unit 2025 is communicatively connected to the real-time comparison information feedback unit 2026 according to the pulse signal interface 2029, and the target to be controlled 205 is communicatively connected to the position comparison unit 2025 according to the pulse signal interface 2029.

In this optional embodiment, through the pulse signal interface, the two-dimensional position comparison module can receive pulse signals from the motion equipment. The position comparison unit can communicate these pulse signals with the real-time comparison information feedback unit to achieve precise positioning of the position of the sports equipment. This is very important for applications that require high-precision position control, such as robot motion control, automatic positioning, etc. Through the communication connection with the real-time comparison information feedback unit, the position comparison unit can feedback the detected position signal to the control system in time. This allows the control system to make instant adjustments and decisions based on real-time location information. This is very critical to achieve closed-loop control and dynamic control, which can improve the stability and accuracy of the system. Through the pulse signal interface, the target to be controlled can communicate directly with the position comparison unit. In this way, the target to be controlled can send instructions, parameters and other information to the position comparison unit to achieve flexible control of the motion equipment. At the same time, the position comparison unit can also transmit real-time position data to the target to be controlled, so that the target to be controlled can obtain the status information of the system in time.

Further, in one embodiment, reference may be made to FIG. 6 , which is a sixth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The two-dimensional position comparison module 202 is provided with two Encoder feedback interface 2030, the third real-time bus interface 2028 is connected to two of the drivers 203, and the drivers 203 are correspondingly connected to the motors 204; the motors 204 are connected to the encoder feedback interface 2030 according to the encoder feedback interface 2030. FPGA programmable logic processing unit 2024 is connected for communication. Optional, the number of drives, motors and encoder feedback interfaces correspond to each other, which can be n.

In this optional embodiment, by setting multiple encoder feedback interfaces, position feedback signals of multiple axes can be received at the same time. This can achieve multi-axis position comparison and control, and is suitable for application scenarios that support multi-axis motion, such as robotic arms, CNC, etc. Each encoder feedback interface corresponds to an axis, and each axis can be accurately positioned and controlled independently. Efficient data transmission and communication can be achieved by connecting to multiple drives through the third real-time bus interface. The real-time bus has low latency and high data transmission rate, which can ensure that control instructions and data can be transmitted and processed in real-time. This improves system responsiveness and performance. The internal position comparison of the contrast driver can meet single-channel, two-dimensional and other occasions with different requirements for position comparison. No pre-writing required.

Further, in one embodiment, reference may be made to FIG. 7 , which is a seventh embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The target to be controlled 205 is a camera.

Further, in one embodiment, reference may be made to FIG. 8 , which is an eighth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The target to be controlled 205 is a laser interface.

In the embodiment of the present invention, a non-real-time operating system and a real-time operating system are both installed in the software motion controller in the two-dimensional position comparison system of motion control. Non-real-time operating systems can handle some tasks that do not require real-time response, while real-time operating systems are designed to handle tasks that require real-time performance. By separating the two operating systems, the reliability and stability of the real-time control system can be ensured. Motion control core, position comparison parameter setting unit and position comparison data processing unit: The real-time control system is equipped with a motion control core, position comparison parameter setting unit and position comparison data processing unit. The motion control core is responsible for implementing the algorithms and logic of motion control. The position comparison parameter setting unit is used to set motion control parameters, and the position comparison data processing unit is used to process position comparison data. These components work together to achieve accurate motion control. A communication connection is established between the non-real-time control system and the motion control core. This connection enables the monitoring, configuration and adjustment of motion control by non-real-time systems, thereby ensuring the stability and controllability of the entire system. The software motion controller establishes a communication connection with the two-dimensional comparison module. The two-dimensional comparison module is an independent module that includes components such as a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, and a position comparison unit. By communicating with the software motion controller, the 2D Compare module provides higher levels of motion control functionality and processing power. Through the network interface chip, the software motion controller can communicate with the motion control core and bus control chip. This connection method can realize data exchange and coordination with other devices or systems, increasing the flexibility and scalability of the control system. A communication connection is established between the driver and the motor and connected to the FPGA programmable logic processing unit. Such a connection method can achieve precise control and drive of the motor, allowing the motion control system to adjust parameters such as the speed, position, and torque of the motor as needed. To sum up, the structure and components of the software motion controller cooperate with each other to achieve high-precision and efficient motion control.

As mentioned above, the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the foregoing. The technical solutions described in each embodiment may be modified, or some of the technical features may be equivalently replaced; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims (8)

1. A two-dimensional position comparison system for motion control, characterized in that the two-dimensional position comparison system for motion control includes: A software motion controller, which is equipped with a non-real-time operating system and a real-time operating system; The real-time control system is provided with a motion control core, a position comparison parameter setting unit and a position comparison data processing unit; The non-real-time control system is communicatively connected with the motion control core; The motion control core is communicatively connected to the position comparison parameter setting unit; The motion control core is communicatively connected to the position comparison data processing unit; Two-dimensional comparison module, the two-dimensional comparison module is communicatively connected with the software motion controller, and the two-dimensional comparison module is provided with a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, position comparison unit; The network interface chip is communicatively connected to the motion control core; The network interface chip is communicatively connected to the bus control chip; A driver, the network interface chip is externally connected to the driver; A motor, the driver is communicatively connected to the motor, and the motor is communicatively connected to the FPGA programmable logic processing unit; The MCU microprocessor is communicatively connected to the FPGA programmable logic processing unit; The FPGA programmable logic processing unit is communicatively connected to the position comparison unit; The position comparison unit is communicatively connected to the real-time comparison information feedback unit; The real-time comparison information feedback unit is communicatively connected to the position comparison data processing unit; A target to be controlled is communicatively connected to the position comparison unit. 2. The two-dimensional position comparison system of motion control according to claim 1, characterized in that a user application program and position comparison parameter settings are provided in the non-real-time operating system. 3. The two-dimensional position comparison system of motion control according to claim 2, characterized in that the communication connection between the non-real-time control system and the motion control core includes: The user application program communicates with the motion control core in a memory sharing manner. 4. The two-dimensional position comparison system of motion control according to claim 3, characterized in that the communication connection between the network interface chip and the motion control core includes: The software motion controller is provided with a first real-time bus interface; The two-dimensional position comparison module is provided with a second real-time bus interface and a third real-time bus interface; The motion control core communicates with the network interface chip through the first real-time bus interface and the second real-time bus interface; The network interface chip communicates with the driver through the third real-time bus interface. 5. The two-dimensional position comparison system of motion control according to claim 4, characterized in that the two-dimensional position comparison module includes a pulse signal interface, and the position comparison unit compares the real-time comparison with the pulse signal interface according to the pulse signal interface. The information feedback unit is communicatively connected, and the target to be controlled is communicatively connected with the position comparison unit according to the pulse signal interface. 6. The two-dimensional position comparison system of motion control according to any one of claims 1-5, characterized in that the two-dimensional position comparison module is provided with two encoder feedback interfaces, and the third real-time bus interface Connected to two drivers, the motors are correspondingly connected to the drivers; the motors are communicatively connected to the FPGA programmable logic processing unit according to the encoder feedback interface. 7. The two-dimensional position comparison system for motion control according to claim 6, wherein the target to be controlled is a camera. 8. The two-dimensional position comparison system for motion control according to claim 6, wherein the target to be controlled is a laser interface.