CN112631207A - Numerical control system based on industrial server cluster - Google Patents
Numerical control system based on industrial server cluster Download PDFInfo
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- CN112631207A CN112631207A CN202011426793.5A CN202011426793A CN112631207A CN 112631207 A CN112631207 A CN 112631207A CN 202011426793 A CN202011426793 A CN 202011426793A CN 112631207 A CN112631207 A CN 112631207A
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- 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
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- G—PHYSICS
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- 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
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- G05B2219/34013—Servocontroller
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Abstract
A numerical control system based on an industrial server cluster relates to a numerical control technology based on the industrial server cluster and aims to solve the problems that the operation and data access capability of the existing numerical control system is limited, the function is expanded and the remote monitoring is difficult. The industrial server cluster is a control system operation platform of numerical control equipment, each industrial computer of the industrial server cluster controls the numerical control equipment of a workshop through a software system arranged in the industrial server cluster, an industrial real-time Ethernet and an industrial wireless network, and one industrial server cluster is used for realizing the monitoring and control of a plurality of or even all the numerical control equipment in the workshop; the human-computer interaction terminal is connected to the industrial server cluster through the Internet, a workshop wired or wireless local area network and used for providing a human-computer interaction input or output interface and realizing configuration management of the whole system and state display and remote control of workshop numerical control equipment. The centralized control system has the beneficial effect that the centralized control of the whole workshop numerical control equipment is realized.
Description
Technical Field
The invention relates to a numerical control technology based on an industrial server cluster.
Background
The Numerical Control System is a short name of a digital Control System, and realizes the action Control of mechanical equipment by controlling physical quantities such as position, angle, speed, torque and the like and switching value by using a digital command; in a numerical control machining workshop, numerical control equipment mainly comprises a numerical control machine tool, an industrial robot, automatic material storage and transportation equipment and the like, and control systems of the numerical control machine tool, the industrial robot, the automatic material storage and transportation equipment and the like are numerical control systems; the traditional narrow-sense numerical control system concept mainly refers to a control system of a numerical control machine tool, and the numerical control system of the machine tool is the most typical representative of the numerical control system.
A general numerical control system is composed of an input/output device, a numerical control device, a Programmable Logic Controller (PLC), a servo system, a detection feedback device, and the like, wherein the numerical control device is a central hub of the numerical control system; at present, a Numerical Control device of a mainstream top-grade Numerical Control system at home and abroad generally consists of an industrial computer or a special Numerical Control unit (NCK) and an upper computer industrial PC; in a numerical control system based on a single PC, a numerical control core function module and a Human Machine Interface (HMI) are realized by the PC; in the numerical control system structure based on the upper computer and the lower computer, a core module of the numerical control system is operated in an NCK (non-volatile memory) in a centralized mode, and a PC (personal computer) of the upper computer mainly realizes a human-computer interaction function and supports secondary development and autonomous upgrade of a user to a certain extent.
In a general numerical control system architecture, a numerical control device and a numerical control machine tool are generally installed together and are in a one-to-one matching relationship, and each numerical control machine tool needs to be operated and maintained by professional technicians, so that the system structure brings huge cost pressure to enterprises at present when the labor cost is more expensive; in order to reduce labor cost, enterprises often need to upgrade processing and manufacturing equipment and select high-grade numerical control system products to realize high-degree automation so as to achieve the purpose of reducing labor, however, the upgrading of the manufacturing equipment and the numerical control system needs high one-time capital investment, and the operation risk of the enterprises is increased.
Moreover, with the rapid change of market demands, the requirements of enterprise users on the functions and the performances of the numerical control system are higher and higher; on one hand, in order to meet the requirements of the special processing technology of the enterprise, the requirements for function diversification, expandability and configurability of the numerical control system are continuously improved; on the other hand, the increasingly complex calculation process and the integration requirement of intelligent functions of the numerical control system, especially the application of technologies such as industrial big data, artificial intelligence and the like, all put higher requirements on the operation capacity and the storage capacity of the core processor of the numerical control system; however, due to the structural closure of a general numerical control system, it is very difficult to upgrade and expand new functions of the numerical control system, and the limited computing capability and storage capability of a single numerical control system becomes a bottleneck for the informatization and intelligentization development of the numerical control system.
Disclosure of Invention
The invention aims to solve the problems of limited operation and data access capability, function expansion and difficulty in remote monitoring of the conventional numerical control system, and provides a numerical control system based on an industrial server cluster.
The numerical control system based on the industrial server cluster comprises the industrial server cluster, numerical control equipment, a software system and a man-machine interaction terminal;
the industrial server cluster is a control system operation platform of the numerical control equipment, the industrial server cluster comprises a plurality of industrial computers which are connected together through a local area network, each industrial computer controls the numerical control equipment of the workshop through a software system arranged in the industrial server cluster, an industrial real-time Ethernet and an industrial wireless network, and one industrial server cluster is used for monitoring and controlling a plurality of or even all the numerical control equipment in the workshop;
the human-computer interaction terminal is connected to the industrial server cluster through the Internet, a workshop wired or wireless local area network and used for providing a human-computer interaction input or output interface and realizing configuration management of the whole system and state display and remote control of workshop numerical control equipment.
The invention has the beneficial effects that: the numerical control system based on the industrial server cluster breaks through the one-to-one corresponding binding relationship between the conventional single-model numerical control system and the machine tool, can realize the centralized control of the numerical control equipment in the whole workshop by using a small number of industrial servers, and greatly reduces the acquisition cost of the numerical control system of a numerical control processing enterprise; the numerical control system flexibly expands the number of the industrial server hosts according to the number of the workshop numerical control equipment or the data storage requirement, so that the numerical control system is suitable for large, medium and small-scale numerical control processing enterprises; the numerical control system greatly improves the information and data integration level of numerical control equipment in a workshop, breaks through an information island formed by a single numerical control system, improves the information interaction and cooperative work capacity among equipment, and lays a foundation for the realization of intelligent factories and unmanned factories; the numerical control system is easy to upgrade and maintain.
Drawings
Fig. 1 is a block diagram of a numerical control system based on an industrial server cluster according to a first embodiment;
fig. 2 is a schematic diagram of an industrial server expansion network card supporting multiple sets of industrial real-time ethernet in the second embodiment;
FIG. 3 is an exemplary diagram of an industrial real-time Ethernet bus topology in the form of a combination of tree and daisy chain topologies according to a fourth embodiment;
FIG. 4 is an exemplary diagram of an industrial real-time Ethernet bus topology in the form of a combination of star and daisy chain topologies according to the fourth embodiment;
FIG. 5 is a functional block diagram of a software system according to a fifth embodiment;
fig. 6 is a working schematic diagram of a fifth embodiment of the present invention, in which a software system is deployed in an industrial server cluster.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1, and the numerical control system based on the industrial server cluster in the embodiment includes an industrial server cluster 1, a numerical control device, a software system, and a human-computer interaction terminal 2;
the industrial server cluster 1 is a control system operation platform of numerical control equipment, the industrial server cluster 1 comprises a plurality of industrial computers which are connected together through a local area network, each industrial computer controls the numerical control equipment of a workshop through a software system arranged in the industrial server cluster 1, an industrial real-time Ethernet and an industrial wireless network, and one industrial server cluster 1 is used for monitoring and controlling a plurality of or even all the numerical control equipment in the workshop;
the human-computer interaction terminal 2 is connected to the industrial server cluster 1 through the internet, a workshop wired or wireless local area network, and is used for providing a human-computer interaction input or output interface, so that configuration management of the whole system and state display and remote control of workshop numerical control equipment are realized.
In the embodiment, the numerical control equipment comprises a numerical control machine tool, an industrial robot and automatic material storage and transportation equipment;
in the embodiment, nodes are arranged in the industrial server cluster 1, and the industrial server cluster nodes are divided into numerical control nodes, data nodes and Web service nodes according to functions; the numerical control node configuration and operation software open type numerical control system is used for controlling workshop numerical control equipment; the data nodes store massive and multi-source data including workpiece data, equipment data, processing process sensor data and the like, and are simultaneously provided with distributed computing platforms to support analysis and processing of distributed industrial big data; the Web service node provides Web browser-based Web services outwards, and the Web service node comprises a remote equipment man-machine interface, a workshop electronic billboard, a system configuration management interface and a data visualization service.
The second embodiment is as follows: the present embodiment is described with reference to fig. 2, and the present embodiment is further limited to the numerical control system based on an industrial server cluster described in the first embodiment, in the present embodiment, each industrial computer expands a plurality of network ports to construct a plurality of sets of industrial real-time ethernet networks, and each set of industrial real-time ethernet networks controls a plurality of numerical control machines and a plurality of industrial robots.
In this embodiment, one industrial server may extend multiple network cards or industrial real-time ethernet protocol communication cards to support multiple sets of industrial real-time ethernet networks, and each set of industrial real-time ethernet network may be capable of controlling multiple pieces of numerical control equipment; the system comprises numerical control nodes in an industrial server cluster, wherein a software numerical control system is operated and comprises a CNC system, an industrial robot control system, an automatic production line process control system and an automatic material storage and transportation control system which are oriented to the numerical control machine; one numerical control node can operate a control system of a plurality of numerical control equipment. The description in this embodiment is mainly directed to a control system for a numerical control machine, but the cluster numerical control system has the control capability of other types of numerical control equipment; the numerical control node adopts industrial real-time Ethernet to control fixed equipment such as a numerical control machine tool, an industrial robot and the like, and adopts workshop wireless network to control AGV mobile equipment.
The third concrete implementation mode: in this embodiment, the numerical control system based on an industrial server cluster is further limited to the first embodiment, in which the industrial real-time ethernet network supports one or more industrial real-time ethernet standards, and the industrial real-time ethernet standards include: EtherCAT, POWERLINK, MECATROLINK, SERCOS, ProfiNet, Ethernet/IP.
In this embodiment, the server host configured as the nc node needs to extend an additional standard ethernet network card or an industrial real-time ethernet bus communication card to be used as an industrial real-time ethernet host device. Each numerical control node host can expand a plurality of main station devices and correspondingly run a plurality of sets of main station control programs, so that a single host can support a plurality of sets of industrial real-time Ethernet networks. When the expanded main station equipment is a standard Ethernet network card, an industrial real-time Ethernet software protocol stack needs to be operated in a host, and a corresponding application layer program is developed based on the software protocol stack; when the expansion master station device is a special bus communication card (such as an EtherCAT communication card based on a PCI-E bus), a corresponding communication card driver needs to be installed in the host, and an application layer program is developed by using an API provided by the driver.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 3 and fig. 4, and the present embodiment is further limited to the numerical control system based on an industrial server cluster according to the first embodiment, in the present embodiment, the industrial real-time ethernet supports multiple basic network topologies and a combination form of the basic network topologies;
the basic network topology includes: daisy chain, ring, star, and tree.
In the present embodiment, as shown in fig. 2 and fig. 3, an industrial computer controls three numerical control machines through a set of industrial real-time ethernet, where an industrial server is a Master Node (MN), and a servo driver, an I/O module, and the like in the numerical control machine are Controlled Nodes (CN).
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 5 to fig. 6, and the present embodiment is further limited to the numerical control system based on an industrial server cluster according to the first embodiment, in the present embodiment, the software system includes a real-time domain task unit and a non-real-time domain task unit;
the real-time domain task unit adopts a modularized reentrant design, and the non-real-time domain task unit is packaged by adopting a virtualization technology, wherein the virtualization technology comprises a virtual machine and a container.
In this embodiment, the Numerical Control system software running in the Numerical Control node is of a modular and reconfigurable design, and as shown in fig. 5, the system is divided into core modules such as a Numerical Control core (NCK) module, a Human Machine Interface (HMI) module, a G code processing module, a Real-time Ethernet (RTE) module, and extension modules such as tool monitoring, collision prediction, and chatter suppression. The modules realize information interaction based on the distributed communication middleware, and the extension module can be loaded into the running numerical control system at any time. In order to enable a plurality of numerical control systems to run in parallel in the same host, the functional modules of the numerical control systems are packaged and isolated by adopting a virtual machine or Docker container technology. After the numerical control module is subjected to virtualization packaging, the numerical control module can be stored and backed up in a server cluster in a mirror image mode, and can be migrated and deployed among different servers in the cluster to achieve load balancing.
In the embodiment, a software system running in the numerical control node adopts a modularized and reconfigurable design, and taking the numerical control machine as an example, different functional module combinations can be selected for machine tools with different structural types, so as to configure a corresponding software system. The software system function module is divided into a real-time domain module and a non-real-time domain module according to different real-time requirements, wherein the real-time domain module needs the support of a real-time kernel in operation. In order to enable a plurality of software systems to run in parallel in the same host, the software system function modules need to adopt a reentrant design to ensure that the software systems can be repeatedly loaded and run for multiple times, or adopt a virtual machine or a container technology for encapsulation and isolation. The real-time module cannot be packaged by adopting virtualization technologies such as a virtual machine and the like which influence the real-time performance, and can be operated in a host machine operating system by adopting reentrant design as much as possible; the non-real-time module can adopt a virtualization technology to realize rapid deployment and application, and the non-real-time module can migrate and deploy to other nodes to operate according to the cluster load condition so as to realize cluster load balance. And distributed communication middleware is deployed in the cluster so as to meet the communication and remote calling requirements among the numerical control modules.
As shown in fig. 6, two master station protocol stacks of the industrial real-time ethernet network belong to real-time tasks, and run in a real-time kernel of an operating system of an industrial server physical machine together with other real-time task modules (such as a fine interpolation module and a position control module) of the numerical control system, and other non-real-time tasks of the numerical control system are encapsulated in a virtual machine or a container by using a virtualization technology, so that mutual isolation is realized. Since the plurality of numerical control systems share the same industrial real-time Ethernet network, control instructions generated by the numerical control systems in the virtual machine/container are firstly collected into the same industrial real-time Ethernet master station protocol stack and then are sent to each slave station device on the numerical control machine through the network port to be executed.
The man-machine interaction of the numerical control system can be in various forms, including an interaction mode based on equipment such as a traditional workshop field operation panel and a hand wheel, and a remote man-machine interface interaction mode based on Web. The Web human-computer interface interaction mode is served by a service node in the cluster, the human-computer interface is designed by a B/S architecture (Browser/Server), functions of system configuration management, equipment state display, machining process simulation, a virtual operation panel and the like are realized through a Web Browser, and corresponding interface display contents can be switched according to different machining equipment.
The sixth specific implementation mode: in this embodiment, after the non-real-time domain task unit of the software system is subjected to virtualization packaging, the non-real-time domain task unit is stored and backed up in the industrial server cluster 1 in a mirror image manner, and is migrated and deployed among different industrial computers in the industrial server cluster 1 to achieve load balancing.
The seventh embodiment: in this embodiment, the industrial real-time ethernet is divided into a master station device and a slave station device; the master station equipment of the industrial real-time Ethernet is each industrial computer; the slave station device of the industrial real-time Ethernet is an execution element supporting an industrial real-time Ethernet protocol, or an embedded controller or an industrial personal computer supporting the industrial real-time Ethernet protocol, and the slave station controller controls the rest execution elements or realizes data acquisition according to the master station control instruction.
The specific implementation mode is eight: in this embodiment, the execution element includes a servo driver and an I/O module or a motor and an I/O module.
In the embodiment, the numerical control node controls a servo motor and an I/O module execution element on the numerical control equipment through an industrial real-time Ethernet bus, and various sensor data are also transmitted through the industrial real-time Ethernet bus.
The specific implementation method nine: in the embodiment, a numerical control system based on an industrial server cluster is further limited, in the embodiment, the human-computer interaction terminal 2 includes a remote terminal 2-1 and a workshop management terminal 2-2;
the remote terminal 2-1 is a desktop computer, a notebook computer, a tablet computer or a mobile phone;
the workshop management terminal 2-2 is a terminal device which can be accessed to the Internet or a workshop local area network and has the functions of displaying and instruction inputting.
In this embodiment, the human-computer interaction terminal 2 accesses the Web human-computer interface through the internet or a wired/wireless local area network of a workshop, so that the human-computer interaction terminal 2 is located in the workshop or any other internet-accessible position. And a remote human-machine operation interface is adopted, so that the field operation requirement is reduced, and the working environment of workshop workers is favorably improved and the personal safety is guaranteed.
The detailed implementation mode is ten: in this embodiment, the human-computer interaction interface of the human-computer interaction terminal 2 is designed in a Browser/Server mode, system configuration management, device state display, machining process simulation and a virtual operation panel are realized through a Web Browser, and corresponding interface display contents are switched according to different machining devices.
Claims (10)
1. A numerical control system based on an industrial server cluster is characterized by comprising an industrial server cluster (1), numerical control equipment, a software system and a human-computer interaction terminal (2);
the industrial server cluster (1) is a control system operation platform of numerical control equipment, the industrial server cluster (1) comprises a plurality of industrial computers which are connected together through a local area network, each industrial computer controls the numerical control equipment of a workshop through a software system arranged in the industrial server cluster and an industrial real-time Ethernet and an industrial wireless network, and one industrial server cluster (1) is used for monitoring and controlling a plurality of or even all the numerical control equipment in the workshop;
the human-computer interaction terminal (2) is connected to the industrial server cluster (1) through the Internet, a workshop wired or wireless local area network and used for providing a human-computer interaction input or output interface, and configuration management of the whole system and state display and remote control of workshop numerical control equipment are achieved.
2. The industrial server cluster-based numerical control system according to claim 1, wherein each industrial computer expands a plurality of network ports to construct a plurality of industrial real-time ethernet networks, and each industrial real-time ethernet network controls a plurality of numerical control machines and a plurality of industrial robots.
3. The industrial server cluster-based numerical control system according to claim 1, wherein the industrial real-time ethernet network supports one or more industrial real-time ethernet standards, the industrial real-time ethernet standards comprising: EtherCAT, POWERLINK, MECATROLINK, SERCOS, ProfiNet, Ethernet/IP.
4. The numerical control system based on the industrial server cluster is characterized in that the industrial real-time Ethernet supports various basic network topologies and combination forms of the basic network topologies;
the basic network topology includes: daisy chain, ring, star, and tree.
5. The industrial server cluster-based numerical control system according to claim 1, wherein the software system comprises a real-time domain task unit and a non-real-time domain task unit;
the real-time domain task unit adopts a modularized reentrant design, and the non-real-time domain task unit is packaged by adopting a virtualization technology, wherein the virtualization technology comprises a virtual machine and a container.
6. The numerical control system based on the industrial server cluster as claimed in claim 5, wherein the non-real-time domain task units of the software system are subjected to virtualization packaging, stored and backed up in the industrial server cluster (1) in a form of mirror image, and migrated and deployed among different industrial computers in the industrial server cluster (1) to achieve load balancing.
7. The numerical control system based on the industrial server cluster as claimed in claim 1, wherein the industrial real-time Ethernet is divided into a master station device and a slave station device; the master station equipment of the industrial real-time Ethernet is each industrial computer; the slave station device of the industrial real-time Ethernet is an execution element supporting an industrial real-time Ethernet protocol, or an embedded controller or an industrial personal computer supporting the industrial real-time Ethernet protocol, and the slave station controller controls the rest execution elements or realizes data acquisition according to the master station control instruction.
8. The industrial server cluster-based numerical control system according to claim 7, wherein the execution elements comprise servo drivers and I/O modules or motors and I/O modules.
9. The numerical control system based on the industrial server cluster is characterized in that the human-computer interaction terminal (2) comprises a remote terminal (2-1) and a workshop management terminal (2-2);
the remote terminal (2-1) is a desktop computer, a notebook computer, a tablet computer or a mobile phone;
the workshop management terminal (2-2) is a terminal device which can be accessed to the Internet or a workshop local area network and has the functions of displaying and instruction inputting.
10. The numerical control system based on the industrial Server cluster as claimed in claim 1 or 9, wherein the human-computer interaction interface of the human-computer interaction terminal (2) is designed in a Browser/Server mode, system configuration management, equipment status display, machining process simulation and virtual operation panel are realized through a Web Browser, and corresponding interface display contents are switched according to different machining equipment.
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