CN102354147B - Reconfigurable computer numerical control system, numerical control method thereof and reconstruction method thereof - Google Patents

Reconfigurable computer numerical control system, numerical control method thereof and reconstruction method thereof Download PDF

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CN102354147B
CN102354147B CN 201110206676 CN201110206676A CN102354147B CN 102354147 B CN102354147 B CN 102354147B CN 201110206676 CN201110206676 CN 201110206676 CN 201110206676 A CN201110206676 A CN 201110206676A CN 102354147 B CN102354147 B CN 102354147B
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servo
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CN102354147A (en
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江俊逢
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Digital Drive Technology Co ltd
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    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller

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Abstract

The invention discloses a standardized reconfigurable computer numerical control system, a numerical control method thereof and a reconstruction method thereof, wherein the computer numerical control system is based on PC and is opened all around. A processing process model, which faces to the process and is open, is provided. Control resources are configured according to a control flow including generation, distribution, sending and execution of numerical control information. And the system has nothing to do with software and hardware platform performces like a digit number and a speed of a processor as well as an operating system performance and the like; and the system also has nothing to do with a programming interface; therefore, the system has good reconfigurability. According to the invention, real-time control of a tool path curve is converted into simplest real-time sending of a linkage instruction; and the system has a simple and reliable multiaxis synchronization capability with high speed and high precision, so that significant transformation of a numerical control method is brought about.

Description

Reconfigurable computer digital control system and digital control method, reconstructing method
Technical field
The invention belongs to advanced control and advanced manufacturing field, be specifically related to a kind of based on reconfigurable computer digital control system PC, that open up comprehensively, standardized and digital control method and reconstructing method, to adapt to Reconfigurable Manufacturing System to the requirement of digital control system.
Technical background
Reconfigurable Manufacturing System is advanced research forward position of making, and is the developing direction of future manufacturing systems.1998, national research council was delivered the research report of " challenge that the year two thousand twenty manufacturing industry faces ", first of Reconfigurable Manufacturing System being classified as 10 large gordian techniquies.That Reconfigurable Manufacturing System is had decisive significance is Reconfigurable Machine Tools RMT (Reconfigurable Machine Tools).Over more than ten years, digital information technology is advanced by leaps and bounds, the Reconfigurable Machine Tools blank wall, and its reason is that Reconfigurable Machine Tools must be based upon on the basis of reconfigurable computer digital control system.There is no the reconfigurable computer digital control system, Reconfigurable Machine Tools becomes to cook a meal without rice.
The reconfigurability of digital control system becomes the gordian technique that needs to be resolved hurrily in Reconfigurable Manufacturing System.
The reconfigurable computer digital control system should be a kind of open digital control system, and this is the common recognition of this area.
Since nineteen fifty-two, america's MIT was developed First electron tube digital control system, after going through transistor, integrated circuit, small-size computer, microcomputer, digital control system in last century the eighties develop into digital control system in open type based on PC, three kinds of pattern: PC that produced existing digital control system in open type embed the NC patterns, NC embed PC pattern, soft open style.
The digital control system in open type that NC embeds the so-called based on motion controller of PC pattern becomes the main flow that has digital control system in open type now, and motion controller becomes a new high-tech industry and the fashionable whole world.Open-type motion is described as the industrial control unit (ICU) of a new generation in the U.S., be considered to the industrial revolution for the third time in the future in Japan.
IEEE(Institute of Electrical and Electronics Engineers, institute of electrical and electronic engineers) be defined as about digital control system in open type:
" application system that meets system specifications may operate on the different platform of a plurality of dealer, can carry out interoperability with the application of other system, and have the User Interface of consistent style.”
CNS " GB/T18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions " is caught the essence of IEEE definition and is followed the cardinal rule of IEEE definition, bluntly opening is defined as in 3.1 sections " plug and play " of application software, digital control system in open type is defined as:
" refer to that application software constructs the digital control system on the system platform of following publicity, extensibility, compatible principle, make application software possess the consistance of portability, interoperability and man-machine interface.”
Open architecture is the gordian technique that realizes that high-performance, intelligent digital are controlled.Yet, in the last thirty years, under the misleading of IEEE definition, (carry " information and control " as document " the application summary of High Performance Motion Control in digital control system ", the 3rd phase in 2003, China Association of Automation and Shenyang Inst of Automation, Chinese Academy of Sciences unite and sponsor, author: Wang Junping, Wang An, respect the faithful and upright person, Chen Quanshi) pointed, " open architecture does not also have unified, clear and definite concept connotation; system realizes that technology also is in the epoch of letting a hundred schools contend ", " research of open architecture also is in initial stage ".
From information-theoretical angle, digital control system just will be compressed in the digital control information decompress(ion) in cutter track curve and speed of feed.In the existing digital control system in open type based on the IEEE definition, interpolation iteration control method is exactly a kind of decompressing method of digital control information.
The basic technical scheme of interpolation iteration control method is, speed of feed for given cutter track (Tool Path) curve and cutter, under the control of real time operating system, take interpolation cycle as the timesharing cycle, adopt the interpolation iterative algorithm to calculate in real time the digital control information of relevant coordinate axis, and distribute in real time and send to servo drive to carry out, to control the determinacy kinematic relation between mechanical system.In each interpolation cycle, the digital control information that is generated by interpolation, distributing in real time immediately on the one hand sends to servo drive to carry out, carry out iteration generating next digital control information as the input of next interpolation cycle again on the other hand, thereby consist of the real-time iteration of digital control information.Follow the beat of interpolation cycle, digital control information constantly generates, distributes, sends, carries out, from and go round and begin again in the mode of process iteration, consist of the real-time iteration of control procedure.
Inventor's discovery, the existing digital control system in open type that defines based on IEEE does not have the fundamental cause of reconfigurability that 4 points are arranged:
The first, platform dependency
So-called platform-neutral generally refers to application software and can move on operation and a plurality of operating system on the CPU of a plurality of different cultivars.The former is the hardware platform independence, and the latter is the software platform independence.
CNS " GB/T18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions " is divided into application software and system platform with the basic architecture of digital control system in open type, and system platform is comprised of hardware platform and software platform.So-called hardware platform is the basic components of software platform and application software operation, is in the bottom of basic architecture; So-called software platform is the basic components of application software operation, is between the hardware platform and application software of basic architecture.So-called NC kernel software is the basic software in application software, namely relates to the application software module of motion control, axle control and motion control management.For the narration easy, with the NC kernel software referred to as application of numeric control software.
Software platform generally comprises operating system, graphics system and application programming interface APT, and wherein core is real time operating system.
From the developing history of computing machine and computer utility, adopting the multiple task operating system of a plurality of user programs of time-division operation is epoch-making progress.Yet, in itself, the administrative mechanism of a kind of internal and external resources that multiple task operating system just builds for the management that adapts to inner and external resource and inner with outside environmental change and the strain mechanism of response internal and external environment variation.
In the existing digital control system in open type based on the IEEE definition, interpolation iteration control method changes administrative mechanism and the strain mechanism of real time operating system into a kind of pervasive controlling mechanism, real time operating system just becomes carries out the real-time interpolation iteration with the real-time control center of generating digital control information, and existing digital control system has formed the system architecture centered by real time operating system.The operation rule of interpolation iterative control algorithm and the task scheduling of real time operating system rule close-coupled consist of a kind of real-time digital control method, i.e. interpolation iteration control method together.Interpolation iteration control method has created " the interpolation epoch " of digital control system through whole history of digital control technology and digital control system.。
In the existing digital control system in open type based on the IEEE definition, the interpolation iterative control algorithm must be carried out in real time interpolation and calculate as a kind of decompressing method of digital control information under the control of real time operating system.Real time operating system has high-precision timing function, interrupt Embedded process mechanism and Real-Time Scheduling mechanism, and its core is process scheduling and thread scheduling.Real-time is complicated with process scheduling and thread scheduling.Parallel algorithm is further complicated with process scheduling and thread scheduling again.Compare with the concurrency of processor level process with the concurrency of machine instruction level production line, the uncertainty that the concurrency of thread faces is very complicated.
Process and thread are added parallel algorithm, cause the high complexity of real time operating system and the high complexity of application of numeric control software.For the multiple axes system of high-speed, high precision, application of numeric control software certainly will become a huge and complicated interrupt system that adopts parallel algorithm, relates to multi-process/multithreading nesting allocation and multiple real-time nested interrupt.
Problem is, once in motion speed improves or kinematic accuracy improves or universal driving shaft increases or the interlock parameter increases, the interpolation cycle of real time operating system is inevitable be increased with exponential form, thereby needs the CPU of long number more speed more, more real time operating system, the Real-Time Scheduling ability of more optimizing and the more advanced interpolation iterative control algorithm of hard real-time of long number more.
Be problematic in that, in order to research and develop that huge and complicated interrupt system, should be proficient in digital control technology, be proficient in again computing machine software and hardware architecture, also will be proficient in parallel algorithm and multi-thread programming.This just means, application of numeric control software becomes so-called expert teacher system, namely only is proficient in the system that the compound expert of above-mentioned technology could research and develop, and the user can't carry out secondary development, thereby has completely lost opening.
Therefore, open existing digital control system complete " by computerize " based on the IEEE definition, on architecture, become in fact the general-purpose computing system that needs the configuration real time operating system, application of numeric control software is one of them proprietary application system, and its opening can only be defined as " plug and play " of application of numeric control software.
This shows, in itself, the existing digital control system in open type that defines based on IEEE does not have platform-neutral, but opposite, has platform dependency, for the multiple axes system of high-speed, high precision, and platform strong correlation especially.
Since the existing digital control system in open type based on the IEEE definition has the platform strong correlation, just lost in itself the basis of reconstruct.
The second, in real time control procedure does not have reconfigurability
In the existing digital control system in open type based on the IEEE definition, control procedure is the iterative process of digital control information and the iterative process of real-time control procedure in real time, inseparable with the interpolation iterative control algorithm, the interpolation iterative algorithm of high-speed, high precision becomes the core technology in existing Numeric Control Technology naturally.So the OSEC plan (Open System Environment for Controller) of Japan thinks, the digital control system in open type that there is no an advanced control algolithm just evolution property, be not desirable with revolutionary.
On architecture, be divided into system platform and application software two large divisions based on the existing digital control system in open type of IEEE definition, application software and then be divided into man-machine key-course and the motion control layer.The motion control layer is the kernel that digital control system is completed real-time control procedure, is made of some standard packages.Obviously, this is a kind of architecture of application-oriented software configuration.This just means, is object-oriented rather than processor-oriented based on the existing digital control system in open type of IEEE definition.
The key problem of digital control system is to control in real time the cutter track curve.Corresponding to the reconstruct of mechanical system, the real-time control procedure of cutter track curve must need reconstruct.
In the existing digital control system in open type based on the IEEE definition, for different cutter track curves, for example, straight line, circular arc, para-curve, involute urve, nurbs curve etc. must be researched and developed corresponding interpolation iterative algorithm and the corresponding control module in real time of configuration in application of numeric control software.Therefore, corresponding to the reconstruct of mechanical system, the reconstruct of control procedure in real time must relate to the modification of real-time control module, or replaces, increases real-time control module.Give up outside this, then without the other technologies means.
Obviously, the intension of this and digital control system reconfigurability is far apart.
Inventor's discovery, for digital control, process has more essential characteristic than object.Digital control in digital control system is a process, rather than object.Yet, be object-oriented rather than processor-oriented based on the existing digital control system in open type of IEEE definition.
In interpolation iteration control method, in real time control procedure is exactly the going round and beginning again of generative process, assigning process, process of transmitting, implementation of the coordinate figure increment under interpolation cycle is controlled.Thereby, control procedure is inseparable with the geometric properties of cutter track curve, the technology characteristics of process, the kinematics/dynamic characteristic of mechanical system etc. in real time, inseparable with hardware platforms such as the figure place of CPU, arithmetic speeds, inseparable with software platforms such as real time operating systems, inseparable with the interpolation iterative algorithm.This has just fundamentally limited the reconstruct of real-time control procedure.In other words, in the existing digital control system in open type based on the IEEE definition, the real-time control procedure of cutter track curve can't be opened, and does not have reconfigurability.
Three, communication cycle is systematic parameter
Networking is the important technology feature of advanced manufacturing technology.
CNS " GB/T18759.1-2002 mechanical electric equipment digital control system in open type part 1: general provisions 5.2.4.2 " regulation, PERCOM peripheral communication should meet relevant national standard or international standard, and intercommunication is traffic model according to the ISO standard.
PERCOM peripheral communication is used between digital control system and workshop management net, and it can be described as network interface by mouth, for example Industrial Ethernet interface or other fieldbus (Field bus).
then, for the intercommunication interface, CNS " GB/T18759.3-2009 mechanical electric equipment digital control system in open type the 3rd partial bus interface and communication protocol " is take ISO/OSI Open System Interconnection reference model as the basis, standard a kind of fieldbus, be referred to as " digital control system in open type bus ", be used for connecting " numerical control device, servo drive, main shaft driving device, sensor device, I/O device ", to realize these " digital between device, two-way, the communication of multiple spot ", and satisfy system to periodicity, real-time, synchronously, reliability, security, the requirement of the aspects such as opening.The draft of another kind of digital control system on-the-spot bus standard " machine tool numerical control system NCUC-Bus fieldbus protocol specification (draft) " is open, also take ISO/OSI Open System Interconnection reference model as the basis.
As everyone knows, ISO/OSI Open System Interconnection reference model is for the traffic model between computer network.Described standard for Fieldbus is simplified bus architecture, mainly is made of Physical layer, data link layer and application layer.Described fieldbus causes communication cycle to become another systematic parameter, and the real-time of communication protocol, the series of problems such as compatibility of data representation cause the intercommunication high complexityization with expensive.
Corresponding to the reconstruct of mechanical system, the real-time data layout of the digital control information in control procedure comprises that the byte number etc. of feeding equivalent (nanometer or micron), data all will change.Must formulate the exchanges such as user plane communication agreement in described fieldbus, the data layout in the exchanges data of digital control system in open type inside, sequential relationship and error correcting system are given standard.Thereby similar with the interpolation cycle in real time operating system, the communication cycle in fieldbus becomes the factor of restriction digital control system reconfigurability on the contrary.
For the reconfigurable computer digital control system, must expend a large amount of computational resources for this reason and be used in support all kinds of fieldbus (such as CAN, Profibus, Sercos etc.).
Four, the consistance of DLL (dynamic link library) and man-machine interface
In the open existing digital control system based on the IEEE definition, adopt the G code standard as the DLL (dynamic link library) of nc program.The fifties in last century paper tape as the input basic physical medium the time, represent character on paper tape for standard, formulated the coding standard of tape punch, i.e. the G code standard.
The G code standard is the primary product of infotech starting stage, is subjected to the restriction of paper tape inevitably to have the very few defective of quantity of information.Each manufacturer thereby G code has all been carried out the expansion outside the basic semantic causes the dependence of G code program and corresponding hardware, and nc program does not have interchangeability between different digital control systems, cause various digital control systems incompatible.Thereby as DLL (dynamic link library), the G code standard does not possess the consistance of man-machine interface, becomes one of bottleneck that Numeric Control Technology further develops, and has restricted opening and the reconfigurability of digital control system yet.
The problem of above-mentioned four aspects causes only having three kinds of technical schemes to solve the opening of digital control system based on the existing digital control system in open type of IEEE definition.
The first is researched and developed the CPU of more long number, more speed and long number more, real time operating system that real-time is stronger.For example, 2009, the scientific and technological great special plan of China national " high-grade, digitally controlled machine tools and basic manufacturing equipment " was classified the multi-axis linkage numerical control system that 64 bit CPUs, 64 real time operating systems and interpolation cycle reach 0.125ms as gordian technique.
It two is to research and develop more advanced interpolation iterative control algorithm.For example, Japan develops 64 hypervelocity chips and NURBS interpolation iterative control algorithm for motion controller under OSEC plan promotes.
It three is that research and development are based on the complete soft digital control system in open type of hypervelocity processor and real time operating system.So-called complete soft digital control system in open type figuratively speaking, is exactly with the complete PCization of digital control system under real time operating system is supported.
Obviously, above-mentioned three kinds of technical schemes all rely on real time operating system, and the real-time control procedure of cutter track curve can't be opened.The fact of a sternness is, in the existing digital control system in open type based on the IEEE definition, reconstruct corresponding to mechanical system, particularly corresponding to the reconstruct of high-speed, high precision multiple axes system, no matter be that NC embeds PC pattern or soft open style, all can not solve the problem of above-mentioned four aspects, particularly, all the reconfigurability of real-time control procedure can not be solved, that huge and complicated interrupt system can only be again researched and developed.
Therefore, CNS " GB/T18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions " does not carry out technology to the reconfigurability of digital control system and defines, reconfigurable CNC system is not done any explanation yet, highest level to be achieved is arranged in only classifying reconfigurability as digital control system in open type in the 4.5.2 money.In other words, concerning based on the existing digital control system in open type of IEEE definition, reconfigurability is a beautiful imagination.
Inventor's discovery, IEEE is the basic reason that hinders the development of reconfigurable computer digital control system about the definition of digital control system in open type, its primary factor is the control idea that the IEEE definition produces.In abstracto, must change existing digital control technology, establish the control idea centered by working machine.Digital control system is the working machine service, and it is the multidimensional associated data stream that its task is just made digital control information for working machine, and described multidimensional associated data stream can not be carried the redundant informations such as the unwanted interpolation cycle of working machine, communication cycle, profile step-length secretly.
For digital control, process has more essential characteristic than object.Digital control in digital control system is a process, rather than object.The architecture of the existing digital control system under IEEE definition, similar with the Ptolemaic system structure of the theory of the earth's core in uranology in history, all because of the mistake of idea.
Inventor and then discovery, there are three error of principle in the IEEE definition.
First error of principle of IEEE definition is that on the control idea, the real-time command centre that controls working machine is orientated digital control system as in the IEEE definition, there is no the concept of associated data stream.
Second error of principle of IEEE definition is, on architecture, numerically controlled process essence, object-oriented rather than procedure-oriented have been ignored in the IEEE definition, the concept that there is no control flow is defined as a kind of general-purpose computing system that needs the configuration real time operating system with digital control system.
The 3rd error of principle of IEEE definition is, on control method, it is a kind of decompressing method of digital control information that the interpolation iterative control algorithm has been ignored in the IEEE definition, thereby the strain mechanism that administrative mechanism and the response internal and external environment of the internal and external resources of real time operating system changes is considered as a kind of pervasive controlling mechanism, operation rule and the regular close-coupled of the task scheduling of real time operating system of interpolation iterative control algorithm consisted of a kind of real-time control method together.
Therefore, the IEEE definition certainly leads to following problems:
1), all things all is among process, all to travel through the stages such as Emergence and Development, extinction and develop hierarchical structure.The things structure that develops just becomes object in the different levels of process.All objects are all realized its function during the course.
Object is a kind of artificially abstract at the certain layer aggregated(particle) structure about things just, and process is the dynamic behaviour of things actual motion in the different levels structure.Numerically controlled process essence has been ignored in the IEEE definition fully, digital control process is considered as object, cause the iteration of digital control information and the iteration of control flow, can not relate to the opening of the opening of digital control information, digital control process and the opening at the interface between digital control process.
2), the IEEE definition is centered by digital control system, defined opening is the opening that computer system itself should have, the architecture of so-called digital control system in open type is transplanted from computer system and is come, be a kind of object-oriented in order to realize the architecture of software model, can not reflect the technical characterictic of digital control system in whole control procedure.
3), IEEE definition fails to examine closely from the macroscopic view of manufacturing system the architecture of digital control system in open type, adopts the architecture of general-purpose computing system, causes open concept ambiguous, also fails so far unified.The descriptive vocabulary such as interoperability, portability, scalability, interchangeability just become open so-called technical manual, have hindered the standardized process of digital control system.
4), IEEE definition object-oriented rather than procedure-oriented, the essence of having ignored computer numerical control (CNC), digital control system " by computerize ", the development of digital control technology is drawn towards what is called " advanced control algolithm " (Japanese OSEC plan), be precision and the speed of interpolation iterative control algorithm, thereby misled the developing direction of digital control technology.
5), the key problem of digital control system is opening and the reconfigurability of real-time control procedure.In the digital control system in open type of IEEE definition, control module can't be opened because of object-oriented in real time, has fundamentally restricted the development of digital control system.
6), the IEEE definition is based on the architecture of general-purpose computing system, the function that is confined to numerical control software is divided and operation interface each other, lack defining of systematics category for numerically controlled process feature, thereby, digital control system has been defined as configuring the general-purpose computing system of numerical control software, thereby substantially digital control system in open type is defined as the rigidity integrated manufacturing system of making digital control information.
7), IEEE definition is not centered by working machine, but centered by digital control system, thereby produced the bulk redundancy information such as interpolation cycle, profile step-length, violated simplicity.These redundant informations have consumed a large amount of computational resources, have violated economy principle.
8), the opening of the opening of process and object is diverse.The opening of process must relate to generation, distribution, the transmission of digital control information, the control flow of execution.The IEEE definition does not have the idea of control flow fully.
The architecture of the digital control system in open type of IEEE definition is not to configure according to the control flow of making digital control information the architecture of controlling resource.
9), IEEE definition do not regard digital control information as a kind of product, do not relate to the opening of digital control information.
10), the G code standard is the DLL (dynamic link library) that existing numerical control program adopts.The G code DLL (dynamic link library) does not possess the consistance of man-machine interface.The IEEE definition is too abstract about the statement of man-machine interface, and so-called " consistance of man-machine interface " avoided the opening of DLL (dynamic link library).
Therefore, the IEEE definition is not that an opening about computerized numerical system defines, just attempt " plug and play " problem of standard application software, and the opening of unresolved digital control system, on the contrary at the dedicated computer system that on architecture, digital control system is forced under the general-purpose computing system framework, thus with the development of digital control system firmly ground nail die from " interpolation epoch ".
In sum, in existing digital control system in open type under the cacodoxy of IEEE definition is leading, the digital control information of digital control system manufacturing, the process and process interface making the method for digital control information and make digital control information are all that seal, off-gauge, restructurals not.The digital control information of manufacturing becomes the interior items of existing digital control system.This has negated fundamentally just opening and the reconfigurability of digital control system, to have artificially digital control technology and existing digital control system in open type high complexity now, be the obstacle that reconstruct being provided with of digital control system is difficult to go beyond, the controller that must cause existing digital control system in open type can't develop and expect for the industrial revolution for the third time.
The inventor gives up IEEE about the definition of digital control system in open type, and digital control system in open type is defined as:
" so-called digital control system in open type is the computerized numerical system according to control flow configuration embedded subsystem, has open man-machine interface, open digital control information, open digital control information manufacture method, open digital control information manufacture process, the interface of the opening between the digital control information manufacture process, open application software.”
This definition is equally applicable to described embedded subsystem, thereby is a definition that systematics combines with fractal geometry.Do not have the iteration of digital control information and the iteration of control flow in defined digital control system in open type, the topological structure of control information stream is a kind of linear topology structure.The opening of application software is exactly " plug and play ".
The opening of the man-machine interface the when opening of IEEE definition only relates to the open of application software and operation use computing machine.
This definition of inventor shows, the opening of digital control system in open type has the intension of following five aspects:
1), the opening of man-machine interface, comprise the opening of man-machine interface, particularly DLL (dynamic link library) in all control procedures interface of digital control information manufacture process;
2), the opening of digital control information;
3), the opening of the manufacture method of digital control information;
4), the opening of the manufacture process of digital control information;
5), the opening at the interface between the digital control information manufacture process.
The opening of so-called digital control information refers to the publicity and the transparency that digital control information generates the digital control information that generates in parts.
The opening of so-called digital control information manufacture method refers to and allows user (or developer) structure or integrated oneself the manufacture method of digital control information, namely " plug and play " of the complete software implementation of real-time control method and application software.
The opening of so-called digital control information manufacture process refers to the publicity and the transparency of each subprocess of digital control information.
The internal interface of digital control system is used for exchange message between the internal system functional part.
The opening at the interface between so-called digital control information manufacture process refers to the opening of internal interface.
The opening of so-called man-machine interface refers to the opening of DLL (dynamic link library).
This shows, the definition of inventor's above-mentioned digital control system in open type has reflected the standardization issue that the development environment of modern manufacturing industry proposes controller, to adapt to the standardized process of the industries such as working machine, engine.
The inventor is in patent of invention " computerized numerical system data stream association control method and architecture " (China Patent No.: ZL200710124304.9, Granted publication day: invented data stream association control method (Data-stream Related Control on August 19th, 2009), DRC controls), make existing digital control system take leave of the interpolation epoch, marched toward data stream association and controlled the epoch, having produced controller of new generation is data stream association controller (DRC controller).
The inventor is at patent of invention " a kind of standardized controlling machine " (application number: 200910110439.9PCT international application no: PCT/CN2010/072914) disclose a kind of standardization DRC controller and reconstructing method thereof, generation, distribution according to digital control information sends, the control flow of execution configures the control resource, described standardization DRC controller generates parts by digital control information, and digital control information distributes transmit block and digital control information execution unit to consist of.
The inventor regards digital control information as a kind of product, and generation, distribution, the transmission of digital control information, the technological process of carrying out this manufacturing digital control information are referred to as control flow.
According to the corresponding production equipment of technological process configuration, carry out professional standards production, this is the only way that manufacturing industry is passed by.Obviously, technological process is to share out the work and help one another, realize basis specialized, standardized production.Regard digital control information as a kind of product, certainly exist the technological process of making digital control information.
As must configuring according to the technological process of machine-building corresponding process equipment in machine-building, also must configure corresponding embedded subsystem according to the control flow of making digital control information in the information manufacturing.
The inventor is divided into control flow three subprocess such as digital control information generative process, digital control information distribution process of transmitting and digital control information implementation.
The inventor finds, the generative process of digital control information comprises the decompression procedure of digital control information, the optimizing process of digital control information and the compensation process of ascertainment error etc., ought to be " among devising strategies at the headquarters; outside gaining a decisive victory a thousand miles away-a good plan ", is a non real-time process.The distribution process of transmitting of digital control information is just like " military orders cannot be disobeyed or revoked ", and the implementation of digital control information is " speed is precious in war " especially, must be all real-time.
According to the control flow of making digital control information, but being digital control information, the architecture decoupling zero of digital control system in open type generates the three functions parts such as parts (numerical information manufacturing system), digital control information distribution transmit block (data flow control), digital control information execution unit (servo drive and I/O device).
In digital control technology, be commonly referred to as stepping type by the discrete location information of " 1 " " 0 " form, the discrete location information that is made of the coordinate figure increment is referred to as incremental.
If cutter track (Tool Path) curve is the function of 8 variablees such as X, y, Z, A, B, W, E, H.Wherein, X, y, Z, A, the coordinate axis of B for linking, W, E, the parameter (for example, W be the width of laser pulse, energy, H that E be laser pulse be the frequency of laser pulse) of H for needing to control in real time.Control for data stream association, the technological parameter and the coordinate figure that need to control in real time there is no any difference in essence, the switch of controlling this technological parameter can be considered as the virtual coordinates axle, parameter value is considered as the coordinate figure of this virtual coordinates axle, thereby coordinate axis interlock and the real-time control of technological parameter are united, be referred to as the interlock of multiaxis multiparameter.In the present invention, coordinate axis comprises the virtual coordinates axle.
Table 1 is the schematic diagram of the multidimensional associated data stream of 8 interlocks.
Table 1
Figure GDA00002852119000111
In table 1, time T is n interval by separate division: △ t i, i=1 ..., n.△ t i(i=1 ..., the T that n) is referred to as this cutter track curve is cut apart.X, y, Z, A, B, W, E, H etc. are at △ t iInterior coordinate figure increment is discrete is △ X i, △ y i, △ Z i, △ A i, △ B i, △ W i, △ E i, △ H iLittle line segment △ L i(△ X i, △ y i, △ Z i, △ A i, △ B i) L that is referred to as this cutter track curve cuts apart.
In real-time control procedure, X-axis is feeding △ X at first 1, through △ t 1After feeding △ X again 2, until △ X n, the axles such as y, Z, A, B, W, E, H are also like this.Thereby, △ t nTherefore be casting out of redundancy.In addition, for the unified step of controlling, increase △ t 0△ t 0Irrelevant with the cutter track curve, can suitably set, for example, with △ t 0Be set as △ t nWith subscript 0,1 ..., n-1 is adjusted into 1 ..., n.For the purpose of the convenience of narration, and be different from interpolation cycle, the △ t during T is cut apart i(i=1 ..., n) be referred to as to control the rhythm and pace of moving things.
Table 1 is pointed out, control for data stream association, the technological parameter that need to control in real time and coordinate figure there is no difference in essence, the switch of controlling this technological parameter can be considered as the virtual coordinates axle, parameter value is considered as the coordinate figure of virtual coordinates axle, thereby coordinate axis interlock and the real-time control of technological parameter are united, be referred to as the interlock of multiaxis multiparameter.In the present invention, coordinate axis comprises the virtual coordinates axle.
This shows, the digital control information of cutter track curve comprises two parts.First is that L is cut apart, and coordinate figure increment and desired linkage thereof when describing relevant coordinate axis interlock are used for controlling relevant coordinate axis and link to produce desired resultant displacement.Second portion is that T is cut apart, and describes the servo-actuated property between described resultant displacement, is used for controlling the time interval between described resultant displacement.Described L is cut apart the accurate qualitative error of the ascertainment errors such as the backlass, pitch error, non-perpendicularity and the nonparallelism error that also comprise between driving-chain or thermal deformation errors and so on.
The L of cutter track curve is segmented under the control that T cuts apart and forms associated data stream.According to " 1 " " 0 " form or the coordinate figure increment form of discrete location information, associated data stream can be divided into stepping type associated data stream and incremental associated data stream.
By given data layout, the L of cutter track curve is segmented in the linkage table that numeral reflection that storage space generates is referred to as the cutter track curve.By given data layout, the T of cutter track curve is segmented in the servo-actuated table that numeral reflection that storage space generates is referred to as the cutter track curve.
Obviously, the core missions of digital control technology are linkage table and the servo-actuated tables that generates the cutter track curve, and so-called control in real time is exactly to distribute the coordinate figure increment that sends in linkage table to corresponding servo drive according to the control rhythm and pace of moving things in servo-actuated table.
In the existing digital control system in open type based on the IEEE definition, L is cut apart Dynamic Generation in real-time control procedure.Control rhythm and pace of moving things △ t i(i=1 ..., n) be referred to as interpolation cycle, be isometric.Under the control of real time operating system, the interpolation iterative control algorithm is at interpolation cycle △ t i(i=1 ..., n) the middle △ L that produces i(△ X i, △ y i, △ Z i, △ A i, △ B i).Thereby interpolation cycle becomes a systematic parameter.
In data stream association was controlled, digital control information generates parts need not configure real time operating system, does not have interpolation cycle, controlled rhythm and pace of moving things △ t iNot isometric.
As clearly seen from Table 1, numerically controlled basic problem is made associated data stream exactly.The basic problem of control procedure is exactly the real-time control of associated data stream in real time.
For given workpiece, so-called digital control information generative process is exactly that digital control information generates the process that parts are made associated data stream, the i.e. generative process of the linkage table of cutter track curve and servo-actuated table.
According to the order that processing technology is determined, digital control information generates parts and generates the DRC numerical control program.
The DRC numerical control program is made of movement instruction, is used for controlling the process of workpiece.Movement instruction comprises status command, switch order, track instruction.Status command is used for the operation subsidiary function; Switch order is used for controlling the I/O device; The track instruction is used for controlling servo drive, completes the feed process of a cutter track curve.
Digital control information generates parts by the linkage table of Discrete geometry plane-generating cutter track curve, by the servo-actuated table of discrete motion plane-generating cutter track curve, and by given data layout, generates linkage table and the servo-actuated table of normative document form.
The general PLC of routine that adopts controls tool magazine, or the control stream that adopts soft PLC to generate combinational logic is controlled the exchanging knives process in tool magazine.As routine techniques, the present invention does not relate to the control stream of controlling for tool magazine.
The DRC numerical control program is fully digitalization, commercial " digital control information " product that digital control information generates the parts manufacturing.The generative process of DRC numerical control program is exactly to adopt the programming process of movement instruction.Thereby it is the opening development platform of open platform and the Numeric Control Technology of numerical control programming that digital control information generates parts.
So-called digital control information assigning process is exactly that digital control information distributes transmit block that the coordinate figure increment in linkage table is distributed to relevant servo drive, for example, and with △ X i, △ y i, △ Z i, △ A i, △ B iDistribute to the servo drive of 5 coordinate axis such as X, y, Z, A, B.
The process of transmitting of so-called digital control information is exactly that digital control information distributes transmit block according to the transmission of controlling the real-time control figure control information of the rhythm and pace of moving things.
The implementation of so-called digital control information be exactly servo drive with coordinate figure increment writing position ring, drive the coordinate axis feeding.
In the related described DRC controller of controlling of data flow-based, the generation of digital control information is not real-time, and the distribution of digital control information sends, carries out is real-time.
the inventor finds, if the structure of DRC numerical control program is improved, the digital control information assigning process is converted into non real-time process, thereby the digital control information assigning process can be separated with the digital control information process of transmitting, control flow is divided into the digital control information generative process, the digital control information assigning process, four subprocess such as digital control information process of transmitting and digital control information implementation, be that digital control information generates parts with the architecture decoupling zero of digital control system in open type, the digital control information distribution member, the digital control information transmit block, four functional parts such as digital control information execution unit.
Then, the inventor further finds, after the control flow of digital control information is divided into generative process, assigning process, process of transmitting, implementation, the significant improvement that causes the architecture of DRC controller becomes a kind of based on reconfigurable computer digital control system PC, that open up comprehensively, standardized.
Summary of the invention
Data stream association is controlled (Data-stream Related Control, being called for short DRC controls) purpose for the industrial revolution for the third time, a kind of control information, control method, control procedure are proposed and architecture is opened up comprehensively, based on the standardized controlling machine (referred to as the DRC controller) of PC, to adapt to the industrial revolution for the third time to the requirement of digital control system.
Based on the non real-time property of digital control information assigning process, the present invention improves the DRC controller, proposes a kind of based on reconfigurable computer digital control system PC, that open up comprehensively, standardized.
Technical scheme of the present invention is as described below.
A kind of reconfigurable computer digital control system is characterized in that, comprises PC system, interpretive routine storer, control module, servo drive, I/O device, serial line interface, interlock interface, I/O interface in real time;
Described PC system is connected with described servo drive by serial line interface, be connected with described I/O device by the I/O interface, be used for generating the DRC numerical control program of controlling workpiece process, comprise status command generation module, switch order generation module, track instruction generation module, DRC numerical control program generation module, axle linkage table distribution module, DRC numerical control program operation module;
Described status command generation module is used for generating the status command of controlling supporting process;
Described switch order generation module is used for generating the switch order of controlling the I/O device;
Described track instruction generation module is used for generating the track instruction that the control servo drive is completed cutter track curve feed process;
Wherein, described track instruction generation module comprises Discrete geometry planning module and discrete motion planning module;
Described Discrete geometry planning module be used for to generate the linkage table that the L that stores the cutter track curve is cut apart; Described L is cut apart for controlling coordinate axis interlock generation resultant displacement; Described linkage table is divided into the axle linkage table of each axle, and described axle linkage table is cut apart component for the L of the relevant coordinate axis of storage, controls this coordinate axis and produces axial translation;
The T that described discrete motion planning module is used for storing the cutter track curve is cut apart the servo-actuated table with status word; Described T was cut apart be used to the time interval of controlling between described axial translation; Described status word is used to specify the coordinate axis of interlock;
Described DRC numerical control program generation module is used for according to processing technology, status command, switch order, track instruction being linked as the DRC numerical control program;
Described axle linkage table distribution module is used for distributing described axle linkage table by described serial line interface to described servo drive;
Described DRC numerical control program moves module and is used for moving described DRC numerical control program, and supporting process is controlled in the executing state instruction, the execution switch order starts described real-time control module and controls by described interlock interface the process that described servo drive is completed the cutter track curve by described I/O interface control I/O device, the instruction of execution track;
Described interpretive routine storer is used for storing the interpretive routine of described status command, described switch order, described track instruction;
Described real-time control module be used for according to the control rhythm and pace of moving things △ t of servo-actuated table i(i=1 ..., n), send linkage command by described interlock interface to described servo drive; Described linkage command is used for controlling synchronous between the coordinate axis of described status word appointment;
Described servo drive is provided with axle linkage table initialization module and axle linkage table control module; Described axle linkage table initialization module is used for arranging execute flag, and according to the sequence code of described track instruction, and the first address of described axle linkage table is write the L pointer; Follow described linkage command, described axle linkage table control module reads coordinate figure increment and the writing position ring of this axle from described axle linkage table according to the L pointer, drives the coordinate axis feeding and produces resultant displacement.
Further, in above-mentioned reconfigurable computer digital control system, the byte number of described status word is customer parameter.
Axle linkage table file also comprises mark sheet; Described mark sheet is used for the logical attribute of this coordinate axis of sign; Described logical attribute comprises byte number, the electronic gear ratio of gear of feeding equivalent, data.
Each data bit of described interlock interface connects respectively a servo drive.
Described serial line interface is fieldbus, RS232 interface, RS485 interface, USB interface or wave point.
Described DRC numerical control program operation module comprises movement instruction fetching module, status command execution module, switch order execution module, track instruction execution module; Described movement instruction fetching module is used for the first address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next movement instruction is write the movement instruction pointer; Described movement instruction pointer is used to specify the address of next movement instruction; If described movement instruction is status command, described status command execution module is used for carrying out the interpretive routine of this status command; If described movement instruction is switch order, described switch order execution module is used for carrying out the interpretive routine of this switch order; If described movement instruction is the track instruction, described track instruction execution module is used for carrying out the interpretive routine of this track instruction.
Further, described track instruction execution module arranges running mark, starts described real-time control module; Described real-time control module comprises that the interlock coordinate axis arranges module, linkage command arranges module, rhythm and pace of moving things control module, terminal point control module; Described interlock coordinate axis arranges module and is used for the first address of servo-actuated table is write the T pointer, and reading state word and write state word register from described servo-actuated table are specified the coordinate axis that links; Described linkage command arranges the △ t that module is used for reading described servo-actuated table i(i=1 ..., n) and write T and cut apart timer; The timing that T is cut apart in timer arrives, and described rhythm and pace of moving things control module is used for pulse of starting impulse generator output, by the servo drive transmission linkage command of interlock interface to described status word register appointment; Described terminal point control module is used for controlling the terminal point of described track instruction, if described T pointer equals the last address of described servo-actuated table, namely arrives the terminal point of described track instruction, closes running mark; Otherwise, the next △ t of T pointed i
Further, described real-time control module also comprises servo-actuated list file storer and file read module, is connected with described PC system 1 by internal bus; Described servo-actuated list file storer is used for receiving and storing servo-actuated list file; Described file read module is used for reading described servo-actuated list file.
Further, described real-time control module is connected with the PC system by dual port RAM; The described servo-actuated table of storage in described dual port RAM.
The digital control method of a kind of reconfigurable computer digital control system that the present invention proposes comprises the steps:
Step 1, DRC numerical control program generate step: be used for PC system 1 and generate the DRC numerical control program, comprise the steps:
Step 101, track instruction generate step: track instruction generation module generates controls the track instruction that servo drive 4 is completed cutter track curve feed process, comprises Discrete geometry planning step and discrete motion planning step; The Discrete geometry planning step is used for the Discrete geometry planning module and generates the linkage table that the L that stores the cutter track curve is cut apart; Described L is cut apart for controlling coordinate axis interlock generation resultant displacement; Described linkage table is divided into the axle linkage table of each axle, and the L that is used for each coordinate axis of storage is cut apart component, controls this coordinate axis and produces axial translation; The discrete motion planning step is used for the discrete motion planning module and generates the T that stores the cutter track curve and cut apart servo-actuated table with status word; Described T was cut apart be used to the time interval of controlling between described axial translation; Described status word is used to specify the coordinate axis of interlock;
Step 102, status command generate step: the status command generation module generates the status command of controlling supporting process;
Step 103, switch order generate step: the switch order generation module generates the switch order of controlling the I/O device;
Step 104, DRC numerical control program generate step: DRC numerical control program generation module is linked as the DRC numerical control program according to processing technology with described status command, described switch order, described track instruction;
Step 2, axle linkage table allocation step: axle linkage table distribution module 15 is distributed described axle linkage table by serial line interface 6 to servo drive 4;
Step 3, DRC numerical control program operating procedure: the DRC numerical control program operation module 16 described DRC numerical control programs of operation comprise the steps:
Movement instruction fetching step: movement instruction fetching module 161 first addresss with the DRC numerical control program write the movement instruction pointer and read movement instruction, the function byte of movement instruction is write the movement instruction register, the address of next movement instruction is write the movement instruction pointer; Described movement instruction pointer is used to specify the address of next movement instruction;
The status command execution in step: if the movement instruction in movement instruction fetching step is status command, 162 interpretive routines of carrying out this status command of status command execution module;
The switch order execution in step: if the movement instruction in movement instruction fetching step is switch order, 163 interpretive routines of carrying out this switch order of switch order execution module;
Track instruction execution in step: if the movement instruction in movement instruction fetching step is the track instruction, 163 interpretive routines of carrying out this track instruction of track instruction execution module.
Further, in the digital control method of above-mentioned reconfigurable computer digital control system, described track instruction execution in step arranges running mark, and starts following real-time control step:
Step a, interlock coordinate axis setting steps: according to the sequence code of described track instruction, the interlock coordinate axis arranges module 31 first address of servo-actuated table is write the T pointer, and reading state word and write state word register from servo-actuated table are specified the coordinate axis of interlock;
Step b, linkage command setting steps: according to the T pointer, linkage command arranges module 32 and reads control rhythm and pace of moving things △ t in servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step c, rhythm and pace of moving things control step: T are cut apart in timer arrives, and pulse of rhythm and pace of moving things control module 33 starting impulse generators outputs is by the servo drive 4 transmission linkage commands of interlock interface 7 to the status word register appointment;
Steps d, linkage table are controlled step: follow described linkage command, the axle linkage table control module 41 of servo drive 4 reads the coordinate figure increment according to the L pointer from its axle linkage table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement;
Step e, terminal point are controlled step: terminal point control module 34 is controlled the terminal point of track instruction, if the T pointer equals the last address of servo-actuated table, namely arrives the terminal point of described track instruction, closes running mark; Otherwise, the next △ t of T pointed i, repeating step b is to step e.
The reconstructing method of a kind of reconfigurable computer digital control system that the present invention proposes comprises the steps:
Step 1, reconstruct discrete coordinates system: 1 reconstruct discrete coordinates system of PC system; Described discrete coordinates is to comprise that quadrature discrete coordinate system and nonopiate discrete coordinates are;
Step 2, reconstruct textural constant database: PC system 1 reconstruct textural constant database; Fine structure constant and the coordinate system parameter of described textural constant database storing coordinate axle; The fine structure constant of described coordinate axis comprises displacement of the lines error, angular displacement error, backlass; Described coordinate system parameter comprises nonparallelism, the non-perpendicularity between coordinate axis;
Step 3, reconstituted state instruction: the 1 reconstituted state instruction of PC system; Described status command is used for controlling supporting process;
Step 4, reconstruct switch order: PC system 1 reconstruct switch order; Described switch order is used for controlling the I/O device.
Be compared with the prior art, the original beneficial effect that the present invention produces is:
1, based on the process model of control flow
Based on the existing digital control system in open type object-oriented of IEEE definition, employing finite state machine process data model description is complexity, a plurality of control tasks that have the different levels requirement of real-time.Finite state machine is the abstract modeling tool of a kind of height of reaction equation system, for the developer, and complex structure, reusability is poor; For the user, just as the spider net type labyrinth, has no opening.
It is not object-oriented that data stream association is controlled, but procedure-oriented.According to numerically controlled process feature, the present invention is that digital control system in open type proposes a kind of process model.
Finite state machine model contrast with the existing digital control system in open type that defines based on IEEE, this process model is open, very clearly describe the architecture of digital control system in open type, disclosed technical scheme and the gordian technique of reasonable disposition control resource in different control flows.
2, the major transformation of digital control method
In the existing digital control system in open type based on the IEEE definition, the interpolation cycle of real time operating system and the communication cycle of fieldbus are two system clocks.Follow the beat of interpolation cycle and communication cycle, the digital control information of cutter track curve constantly generates, distributes, sends, carries out, thereby goes round and begins again in the mode of the real-time iteration of the real-time iteration of digital control information and control procedure.In this architecture, the real-time control procedure of cutter track curve had both comprised the real-time iteration of digital control information and the real-time iteration of control procedure, comprise again the real-time Communication for Power process, relate to the series of complex factors such as software platform such as hardware platform, real time operating system such as the figure place of kinematics/dynamic characteristic, processor of technology characteristics, the mechanical system of geometric properties, the process of the precision of interpolation iterative algorithm and speed, cutter track curve and arithmetic speed.
The present invention controls resource according to the control flow configuration of the generation of digital control information, distribution, transmission, execution, and with generative process and non real-timeization of assigning process of digital control information, the real-time control procedure of cutter track curve is reduced to and starts real-time control module according to the △ t in servo-actuated table i(i=1 ..., the n) rhythm and pace of moving things of appointment, by the interlock interface to the unidirectional transmission linkage command of the servo drive of status word appointment; Servo drive is followed linkage command, with the writing position ring successively of the coordinate figure increment in described axle linkage table, drives the interlock of corresponding coordinate axle and produces resultant displacement.
The present invention is with the rhythm and pace of moving things △ t in servo-actuated table i(i=1, n) replaced interpolation cycle, cancelled the control of real time operating system to real-time control procedure, linkage command with the simplest unidirectional transmission has replaced very complicated real-time Communication for Power, cancelled the control of fieldbus to real-time control procedure, thereby the real-time control procedure of cutter track curve is converted into the most real-time transmission of simple linkage command, operating system and fieldbus have thoroughly been removed to the restriction of real-time control procedure, realize the opening of real-time control method with real-time control procedure, caused the major transformation of digital control method.
3, high precision multi-axial Simultaneous mechanism
The multi-axial Simultaneous Driving technique is the gordian technique that needs to be resolved hurrily in existing Numeric Control Technology.Country's " high-grade, digitally controlled machine tools and basic manufacturing equipment " 2009 scientific and technological great special projects of year " the digital high-grade numerical control device of problem 18 " are classified the Biaxial synchronous Driving technique as a gordian technique that has now in Numeric Control Technology.
In the digital control system in open type based on the IEEE definition, multi-axial Simultaneous depends on the real-time synchronization mechanism of periodic communication in fieldbus.
Simple is exactly beautiful.
In the present invention, multi-axial Simultaneous depends on the linkage command that sends in real time by the interlock interface, and the coordinate axis of interlock is specified by status word.Described linkage command is parallel synchronizing pulse, and described status word is customer parameter, and described interlock interface class is similar to the parallel interface under status word control.Therefore, the present invention has solved the multi-axial Simultaneous mechanism problem with very simple technological means, has the synchronizing capacity of high-speed, high precision, thereby the multi-axial Simultaneous Driving technique of complexity is converted into simple routine techniques.
4, good reconfigurability
The reconstruct of mechanical system means the increase of the change of coordinate axis kinematic relation and the increase and decrease of coordinate axis, particularly coordinate axis.Thereby, the reconfigurability of the real-time control procedure of cutter track curve becomes the key problem of reconfigurable computer digital control system, this will the complete software implementation of realistic period control method, in real time control procedure irrelevant with software platforms such as operating system, fieldbus, have nothing to do with DLL (dynamic link library).
Based on existing digital control system in open type object-oriented rather than the procedure-oriented of IEEE definition, the real-time control procedure of cutter track curve can't be opened, and does not have reconfigurability.For different curve types, must define special-purpose interpolation instruction and configure specific real-time interpolation control module, thereby the substandard interpolation instruction of G code does not have reconfigurability yet.Corresponding to the change of coordinate axis kinematic relation, the prior art that defines based on IEEE can only be to increase the real-time interpolation control module or revise existing real-time interpolation control module.Obviously, the intension of this and reconfigurability is far apart.Increase corresponding to coordinate axis, particularly corresponding to the reconstruct of 5 axles and the mechanical system more than 5 axles, can only seek help from high-speed CPU more than 64, real time operating system, the Real-Time Scheduling ability of more optimizing and the more advanced interpolation iterative control algorithm of more hard real-time more than 64 based on the prior art of IEEE definition, and must again research and develop that huge and complicated interrupt system.Obviously, this has been not reconstruction.
Track instruction in the present invention only has a kind of form, and is irrelevant with the curve type in the cutter track curve.There is not reconstruction.
In the present invention, the files such as the DRC numerical control program of PC system manufacturing, axle linkage table, servo-actuated table have comprised control servo drive and the needed whole digital control informations of I/O device, digital control information is open, and the method for making digital control information is open; In addition, the present invention is converted into the real-time transmission of digital control information the real-time transmission of very simple linkage command also with non real-timeization of digital control information assigning process, and the digital control information assigning process is also open.
Corresponding to the increase of coordinate axis, only relate in the present invention figure place and the byte number of status word.As customer parameter, there are not reconstruction in the figure place of status word and byte number.
In the present invention, the real-time control procedure of cutter track curve is reduced to and starts real-time control module.Described real-time control module is open, and by the file read module of built-in curing, the operating system independent of its operation and PC also need not configure any embedded real-time operating system.
The present invention had not both had interpolation cycle, there is no communication cycle yet, round Realization the software implementation of real-time control method, solved the reconstruction of the real-time control procedure of cutter track curve fully.
Corresponding to the reconstruct of mechanical system, also relate to the subsidiary function operation and control with the switching value in the I/O device.This just relates to status command and switch order in the present invention.
Status command is all inseparable with the ad hoc structure of mechanical system with switch order, belongs to personalized function.After mechanical system reconstruct, status command and switch order often need reconstruct.
In the present invention, the structure of status command and switch order and function are very simple, and for the user, redefining status command and switch order and write its interpretive routine at the client layer of PC is the simple technique of being familiar with.
The reconstruct of digital control system also relates to the reconstruct of internal interface, the reconstruct of particularly motion control level real-time interface.The present invention is divided into non real-time serial line interface and the interface that links in real time with motion interface.
Interlock interface of the present invention is not communication interface, and linkage command is synchronizing pulse.At transmitting terminal, the interlock interface class is like pressing △ t i(i=1 ..., n) the specified rhythm and pace of moving things parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected with a data bit of interlock interface respectively, and the interlock interface class is interrupted control line like one.Thereby there is not reconstruction in the interlock interface that the present invention proposes.
Non real-time interface of the present invention is a standard serial interface, and the other standards serial line interface under for example the USB interface of standard or UART support belongs to routine techniques.Described non real-time interface need not reconstruct.
In the present invention, the PC system, control module, motion interface all have nothing to do with the software platform such as operating system in real time, also have nothing to do with hardware platform.Thereby the reconfigurable computer digital control system that the present invention proposes has platform-neutral.
The reconstruct of digital control system also relates to DLL (dynamic link library).In the existing digital control system in open type based on the IEEE definition, the nc program of G code form must carry out under the control of real time operating system, thereby relevant to the soft or hard platform.As DLL (dynamic link library), the G code standard does not possess the consistance of man-machine interface.In the present invention, described DRC numerical control program adopts the levels of standards system to replace the G code program, has the consistance of man-machine interface, does not have reconstruction.
Therefore, in the present invention, the reconstruct of digital control system only relates to the reconstruct of discrete coordinates system and the reconstruct of textural constant database.These problems all belong to the routine techniques in PC.
In sum, after mechanical system reconstruct, for reconfigurable computer digital control system proposed by the invention, the real-time control procedure of track instruction and cutter track curve, interlock interface and non real-time interface all need not reconstruct, need the discrete coordinates that only limits to of reconstruct to be and the textural constant database, and redefine status command and switch order at the client layer of PC, write it and explain working procedure.Thereby the present invention is converted into routine techniques means in PC with the reconstructing method of reconfigurable computer digital control system, has good reconfigurability, has solved the reconstruction of reconfigurable computer digital control system fully.
5, standardization
1), the standardization of architecture
The architecture of the reconfigurable computer digital control system that the present invention proposes is controlled resource based on the control flow configuration of the generation of digital control information, distribution, transmission, execution.Particularly, the present invention in the digital control information assigning process by non real-time serial line interface to servo drive distributing shaft linkage table, thereby with non real-timeization of assigning process of digital control information, significantly simplified the architecture of reconfigurable computer digital control system.
In the reconfigurable computer digital control system that the present invention proposes, digital control information generates parts based on PC, is a standardized component.It is all normative document that digital control information generates the digital control information file such as the DRC numerical control program, axle linkage table, servo-actuated table of parts manufacturing, irrelevant with the software platform such as operating system.The levels of standards system becomes the carrier of digital control information, has realized the opening of digital control information.
In the present invention, in real time control module need not configuration operation system, its Core Feature only is the t with △ iWrite T and cut apart timer, send in real time linkage command by the interlock interface under status word is controlled, function and structure are very simple, can standardization.
2), the standardization of motion interface
The standardization of digital control system also relates to the standardization of internal interface, the standardization of particularly motion control level real-time interface.
In the existing digital control system in open type based on the IEEE definition, in order to realize the real-time distribution of coordinate figure increment, field bus technique becomes the mainstream technology of the motion interface between digital control system and servo drive.Described field bus technique has been ignored numerically controlled process feature fully take ISO/OSI Open System Interconnection reference model as the basis, has ignored the essential characteristic that numerical control device is different from computer network fully.Communication cycle becomes system clock, the real-time of data link layer and application layer and agreement thereof, and the series of problems such as the compatibility of data representation have expended a large amount of computational resources.
Nearly 12 of the international standards of fieldbus, the company standard of manufacturer is more.This situation causes CNS " GB/T18759.2-2006 mechanical electric equipment digital control system in open type part 2 architecture " to be provided with 5.6 sections, requires to support all kinds of fieldbus (such as CAN, Profibus, Sercos etc.).
Unfortunately, many standards just mean does not have standard.
The present invention is divided into non real-time serial line interface and the interface that links in real time with motion interface.In supporting process, the axle linkage table of each coordinate axis is distributed to corresponding servo drive by serial line interface.In described serial line interface, communication cycle is not systematic parameter, does not have synchronization mechanism, has avoided real-time and other challenges of communication protocol.Described axle linkage table is normative document, does not have the compatibility issue of data representation.Thereby described serial line interface can be any standard serial interface, the other standards serial line interface under for example the USB interface of standard or UART support.
Described linkage command is a synchronizing pulse.At transmitting terminal, the interlock interface class is like pressing △ t i(i=1 ..., rhythm and pace of moving things n) is the parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected with a data bit of interlock interface respectively, and the interlock interface is a similar interruption control line.Obviously, described interlock interface can standardization.
Therefore, described interlock interface and described non-serial line interface are all standardized, have solved the standardization issue of motion interface.
3), the standardization of DLL (dynamic link library)
In the existing digital control system in open type based on the IEEE definition, adopt the G code standard as the DLL (dynamic link library) of nc program.The fifties in last century paper tape as the input basic physical medium the time, represent character on paper tape for standard, formulated the coding standard of tape punch, i.e. the G code standard.
In the G code program, with different interpolation instructions, different curves in a cutter track curve are described.Must realize different interpolation instructions with different interpolation iterative algorithms again for different curves, the processing on real-time process of curve is interpolated the iterative algorithm real time implementation, thereby cause the interpolation iterative algorithm to become the real-time control algolithm of OO sealing, restricted opening and the reconfigurability of digital control system from real-time control procedure aspect.
The G code standard is the primary product of infotech starting stage, is subjected to the restriction of paper tape inevitably to have the very few defective of quantity of information.Each manufacturer thereby G code has all been carried out the expansion outside the basic semantic, cause the dependence of G code program and corresponding hardware, nc program does not have interchangeability between different digital control systems, the consistance that does not possess man-machine interface, cause various digital control systems incompatible, the exchange that hinders control information with share, restricted opening and the reconfigurability of digital control system from the DLL (dynamic link library) aspect.
In the interpolation iterative algorithm, each coordinate axis must have identical logical attribute.In case the logical attribute of coordinate coordinate axis is different, for example, feeding equivalent (nanometer, micron etc.) is different, the byte number of data is not equal, corresponding variation all will occur in the function of digital control system and structure, has restricted opening and the reconfigurability of system from real-time control procedure and real-time Communication for Power process two aspects.
In the reconfigurable computer digital control system that the present invention proposes, according to the order that processing technology is determined, adopt status command, switch order, track instruction to write the DRC numerical control program.
DRC numerical control program Control-oriented flow process, the track instruction is towards the process of cutter track curve.The axle linkage table of track instruction and servo-actuated table carry the needed whole digital control informations of processing cutter track curve, generate parts by digital control information and create in non real-time, thereby allow each coordinate axis to have different logical attributes.
Above-mentioned DRC numerical control program, axle linkage table, servo-actuated table all transmit in system with the form of levels of standards, and also the form with file transmits between different digital control systems.
Above-mentioned file meets filespec, adopts file system such as FAT16, FAT32.Levels of standards becomes the carrier of digital control information, and is irrelevant with hardware platform, irrelevant with the software platform such as operating system, has platform-neutral widely, realized the opening of digital control information.Above-mentioned DRC numerical control program, axle linkage table, servo-actuated table all adopt the levels of standards system, have realized the standardization of control information, become a kind of standardized DLL (dynamic link library) that is easy to.
In sum, the reconfigurable computer digital control system that the present invention proposes has been realized the opening of digital control information, the opening of digital control method, the omnidistance opening of the generative process of digital control information, assigning process, process of transmitting, implementation is for solid foundation has been established in the standardization of digital control system.
6, the open cnc language of Universal efficient
With existing G code numerical control language contrast, status command, switch order, track instruction and DRC numerical control program that the present invention proposes are towards working machine, logical organization is simple, consistance with man-machine interface, based on PC and need not compile, be a kind of opening about Numeric Control Technology, general, high efficiency Motion Description Languages and logic description language, fully support the user to expand voluntarily the application of Numeric Control Technology and remain the consistance of man-machine interface.
7, high reliability
As everyone knows, in the existing digital control system in open type based on the IEEE definition, interpolation cycle and communication cycle are two systematic parameters, not only expended a large amount of computational resources, and with the whole control flow real time implementation of the generation of digital control information, distribution, transmission, execution, cause real time operating system and fieldbus to become two key links of restriction numerical control system reliability.
Operating system is a very complicated system, may be implied with thousands of potential leaks of hundreds of.These leaks often need several years, the maintenance times of more than ten years to repair, and also be difficult to thoroughly eliminate.Statistical data is pointed out, affects the factor of computer system security, and hard error only accounts for a few percent, and most error sources are in the management of system.Obviously, the mistake of system management derives from operating system basically.Therefore, for the reliability of computerized numerical system, real time operating system is just as the sword of Damokers.
Communication process is exposed in abominable industrial environment, in the existing digital control system in open type based on the IEEE definition, fieldbus causes communication cycle also to become a systematic parameter, the real-time of communication protocol, the series of problems such as compatibility of data representation cause the intercommunication high complexity, are another major reasons that affects reliability.
In the present invention, PC stays out of the real-time control procedure of cutter track curve, and the operation of control module and the operating system independent of PC, also need not configure any embedded real-time operating system in real time.
The present invention separates the digital control information assigning process from the real-time control procedure of digital control information, complete the assigning process of digital control information in a communication process, and communication cycle is no longer systematic parameter.Particularly, with the real-time period communication process contrast in fieldbus, the interlock interface in the present invention is unidirectional transmission synchronizing pulse, function and structure height simplification simply just.
In sum, the present invention has solved two key links of restriction numerical control system reliability from the source, have high reliability.
8. the controller expected of the industrial revolution for the third time
In the universal sense, the architecture of modern manufacturing equipment can abstractly be three systems, i.e. engine, working machine and controller.Engine provides energy, and controller sends control information to working machine and engine, and working machine driven force machine obtains the manufacturing that energy is completed product.
The sign of the industrial revolution for the first time is the birth of working machine, and machinery replaces jack board.
The sign of second industrial revolution is the birth of engine, and steam engine, internal combustion engine, motor have replaced manpower, animal power.
The industrial revolution for the third time will be to be automated as outstanding feature, i.e. the birth of controller.
From manufacturing viewpoint, above-mentioned division is logical.
In manufacturing industry, digital control system is played the part of the role of controller.Yet, there is major defect in existing digital control system at the aspects such as software implementation of opening, reconfigurability, standardization and digital control technology, be not to mention in the same breath with engine, working machine, be difficult to become the controller that the industrial revolution is for the third time expected.
Compare with the existing digital control system in open type based on IEEE definition, the reconfigurable computer digital control system that the present invention proposes have the real-time control procedure of Simplification and digital control method, the complete software implementation of digital control technology, reliability high, can standardization, cheap, the remarkable advantage such as be easy to popularize.Thereby based on digital control system in open type PC, that open up comprehensively, reconfigurable, standardized, the reconfigurable computer digital control system that the present invention proposes is the controller expected of the industrial revolution for the third time just as a kind of.
Description of drawings
Fig. 1 is the process illustraton of model one based on control flow;
Fig. 2 is the process illustraton of model two based on control flow;
Fig. 3 is the architectural schematic of digital control system in embodiment;
Fig. 4 is the functional block diagram of the PC system in Fig. 1;
Fig. 5 is the functional block diagram of the real-time control module in Fig. 1;
Fig. 6 is the functional block diagram of the servo drive in Fig. 1.
Embodiment
In order to guarantee that machine tool structure and layout thereof can recombinate fast according to the variation of institute's converted products, modular construction becomes the basic technical features of Reconfigurable Machine Tools.Usually, modular concept and enforcement thereof only are confined to lathe manufacturing enterprise inside.Yet in Reconfigurable Machine Tools, modular concept and enforcement thereof must extend to the user, and in other words, user oriented is the essential characteristic of reconfigurability.
In Reconfigurable Machine Tools, so-called reconfigurability, referring to the user can carry out the ability of quick restructuring according to the variation of institute's converted products to structure, layout, the machining functions of lathe.
With respect to the modularization of Reconfigurable Machine Tools, it has been generally acknowledged that the reconfigurable computer digital control system also answers modularization.
The Core Feature of digital control system is to control in real time the process of cutter track curve.This just means, for the reconfigurable computer digital control system, the real-time control procedure of cutter track curve must be open, thereby becomes user oriented.
Illustrate in background technology, in the existing digital control system in open type based on the IEEE definition, the real-time control procedure of cutter track curve can't be opened.Its reason is, on the one hand, the application of numeric control software systems that are used for real-time control procedure become the employing parallel algorithm of real time operating system under controlling, relate to a huge and complicated interrupt system of multi-process/multithreading nesting allocation and multiple real-time nested interrupt.On the other hand, the technology characteristics of the real-time control procedure of cutter track curve and the geometric properties of cutter track curve, process, the kinematics/dynamic characteristic of mechanical system are inseparable, inseparable with hardware platforms such as the figure place of CPU, arithmetic speeds, inseparable with software platforms such as real time operating systems, inseparable with the interpolation iterative algorithm.
Thereby in the existing digital control system in open type based on the IEEE definition, the so-called modular construction of controlling in real time is in fact OO modular construction, namely for different cutter track curves, configures different real-time control modules.Unfortunately, this OO modular construction is not user oriented, but NC Machine system manufacturing enterprise, runs in the opposite direction fully with the essential characteristic of reconfigurability.Thereby, rely on this OO modular construction and realize that the reconfigurability of digital control system is a kind of illusion.
People and lathe are two service objects of digital control system, certainly exist the message exchange problem between the three.Illustrate in background technology, in the existing digital control system in open type based on the IEEE definition, adopt the G code standard as DLL (dynamic link library) on man-machine interface, adopt fieldbus in the motion control level, thereby cause DLL (dynamic link library) and fieldbus become does not have reconfigurability based on the existing digital control system in open type of IEEE definition key factor.
Based on above-mentioned analysis, the inventor is defined as the reconfigurable computer digital control system:
So-called reconfigurable computer digital control system is the computerized numerical system according to control flow configuration embedded subsystem, have the real-time control method software implementation, in real time the independence of control procedure and the hardware platforms such as processor figure place, speed, and the independence of the software platform such as operating system and with the independence of DLL (dynamic link library).
Data stream association is controlled according to the flow process of making digital control information and is configured the control resource.The DRC numerical control program becomes fully digitalization, commercial " digital control information " product that digital control information generates the parts manufacturing.It is the opening development platform of open platform and the Numeric Control Technology of numerical control programming that described digital control information generates parts, the complete software implementation of real-time control method.
In the architecture of existing digital control system in open type, servo drive is considered as the functional part of numerically-controlled machine, does not belong to the category of digital control system.According to the above-mentioned definition of reconfigurable computer digital control system, the present invention further improves the DRC controller from aspects such as control flow, architecture, fieldbus, DLL (dynamic link library).These problems all need to include servo drive in digital control system, the function of re-examine servo drive and structure.
In lathe digital control, servo drive comprises servomotor and kinetic control system thereof, is mainly used in controlling rotating speed and the corner of servomotor.So-called rotating speed is controlled and is claimed again velocity mode, and namely speed is controlled, and is used for controlling the rotating speed of main shaft; So-called controlling angle claims again mode position.Namely position control, be used for controlling the displacement of coordinate axis.In the present invention, servo drive is mode position, and it receives with the digital control information of carrying out is the discrete location information of coordinate axis, and position feedback information enters system by the embedded in servo drive to be processed.Rotating speed as for main shaft is considered as technological parameter, is attributed to the switching value of parameter to control.
From background technology as can be known, in data stream association was controlled, the core missions of digital control technology were linkage table and the servo-actuated tables that generates the cutter track curve.So-called control procedure in real time is exactly according to the control rhythm and pace of moving things in servo-actuated table, the going round and beginning again of the assigning process of coordinate figure increment, process of transmitting, implementation.
For example, for realizing 5 axle interlocks of 5 coordinate axis such as X, y, Z, A, B, at first read △ X from linkage table 1, △ y 1, △ Z 1, △ A 1, △ B 1And send to respectively the servo drives such as X, y, Z, A, B by motion interface; The servo drives such as X, y, Z, A, B receive △ X 1, △ y 1, △ Z 1, △ A 1, △ B 1After, write its position ring, drive the 5 axle interlocks such as X, y, Z, A, B, realize resultant displacement △ L 1Pass through again △ t 1After, read △ X from linkage table 2, △ y 2, △ Z 2, △ A 2, △ B 2And send to respectively the servo drives such as X, y, Z, A, B by motion interface; The servo drives such as X, y, Z, A, B receive △ X 2, △ y 2, △ Z 2, △ A 2, △ B 2After, write its position ring, drive the 5 axle interlocks such as X, y, Z, A, B, realize resultant displacement △ L 2So go round and begin again, thereby produce the desired resultant displacement of cutter track curve according to controlling the rhythm and pace of moving things, until the terminal point of cutter track curve.
Described linkage table and servo-actuated table are referred to as the associated data stream of described cutter track curve, generate parts by digital control information and generate.
L in linkage table is cut apart
△L i（△X i、△y i、△Z i、△A i、△B i），i=1,…,n，
Can be by △ X i, △ y i, △ Z i, △ A i, △ B iBe separated into 5 sublists, be referred to as the axle linkage table of described cutter track curve.If the axle linkage table of 5 axles such as X, y, Z, A, B is distributed to the servo drives such as X, y, Z, A, B in supporting process, digital control information distributes process of transmitting to be separated into digital control information assigning process and digital control information process of transmitting, thereby with non real-timeization of digital control information assigning process, and separate from the real-time control procedure of digital control information.
So, for the cutter track curve of the 5 axle interlocks such as X, y, Z, A, B, in the time of in fact, control procedure is exactly, and the servo drives such as X, y, Z, A, B are by the control rhythm and pace of moving things △ t in servo-actuated table i(i=1 ..., n), from △ X i(i=1 ..., n), △ y i(i=1 ..., n), △ Z i(i=1 ..., n), △ A i(i=1 ..., n), △ B i(i=1 ..., n) etc. read the coordinate figure increment and carried out real-time synchronization in 5 axle linkage tables.
Non real-timeization of digital control information assigning process causes the important improvement of following four aspects.
1), process model and architecture
Document " open cnc technology and in the state of development of China " (" aero-manufacturing technology ", the 3rd phase in 2010, the author: the Fu Hongya beam is complete) to point out, the opening of digital control system can be divided into 3 classes: the opening of the opening of cnc system software, process data model and the opening of hardware implementation platform.
The process data model of digital control system is planning system structure and the basis of developing Numeric Control Technology.
Existing digital control system in open type object-oriented based on the IEEE definition, the process data model is used for describing function, behavior, the initiating process of each object of digital control system and the relation of mutually handling between them, particularly clearly describes for complexity, a plurality of control tasks that have the different levels requirement of real-time.Thereby, adopt the process data model of finite state machine (Finite State Machine, FSM) to occupy an important position in the exploitation of digital control system in open type.For example, CNS " GB/T18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions ", " GB/T18759.2-2006 mechanical electric equipment digital control system in open type part 2: architecture " all clearly standard finite state machine model.Finite state machine is the abstract modeling tool of a kind of height of reaction equation system, for the developer, and complex structure, reusability is poor; For the user, just as the spider net type labyrinth, has no opening.
It is not object-oriented that data stream association is controlled, but procedure-oriented must according to numerically controlled process feature, propose a kind of process model of opening for digital control system in open type.
The present invention is divided into control flow four subprocess such as digital control information generative process, digital control information assigning process, digital control information process of transmitting and digital control information implementation, and then the digital control information assigning process is separated from the real-time control procedure of digital control information, become non real-time process.
After the digital control information assigning process separated from the real-time control procedure of digital control information, the architecture decoupling zero of described digital control system was that digital control information generates four functional parts such as parts, digital control information distribution member, digital control information transmit block, digital control information execution unit.The digital control information execution unit comprises servo drive and I/O device.
Described control flow can be divided into real-time process and non real-time process.From reconfigurability, function and the structure of described four functional parts are answered re-examine, and the control method of described real-time process and non real-time process is answered re-examine.
2), file structure
After the digital control information assigning process separates, as the structure of the DRC numerical control program of digital control processing, should come re-examine from the reconfigurability aspect, to support described real-time control procedure and non real-time assigning process from the real-time control procedure of digital control information.
3), DLL (dynamic link library)
Described routine interface refers to when exchanging job sequence between different NC system, the DLL (dynamic link library) between job sequence.
Between different NC system, the DRC numerical control program becomes DLL (dynamic link library).After the digital control information assigning process separated from the real-time control procedure of digital control information, in control flow, file became the carrier of digital control information.Therefore, described DRC numerical control program file and operating system platform are irrelevant.Yet from reconfigurability, described DRC numerical control program should be irrelevant with fieldbus as DLL (dynamic link library).
4), internal interface
After the digital control information assigning process separates from the real-time control procedure of digital control information, the axle linkage table is distributed to servo drive in non real-time, control procedure is able to Simplification in real time, the real-time Communication for Power process of internal interface is able to Simplification, function and the structure of internal interface are answered re-examine, to support the reconfigurability of real-time Communication for Power process.
The present invention proposes a kind of reconfigurable computer digital control system, from aspects such as the function of the function of the structure of the control method of open architecture, real-time process and the non real-time process of digital control system, DRC numerical control program and DLL (dynamic link library), internal interface and structure, servo drive and structures, described DRC controller is further improved, to adapt to the industrial revolution for the third time to the requirement of reconfigurable computer digital control system.
Below in conjunction with the accompanying drawings and the specific embodiments technical scheme of the present invention is described in detail.
The process of workpiece generally can be divided into supporting process, exchanging knives process and feed process.
Supporting process relates to subsidiary function and the state setting of being controlled by the I/O device.
Exchanging knives process relates to tool magazine and controls.For exchanging knives process, the general PLC of routine that adopts controls tool magazine, or the control stream that adopts soft PLC to generate combinational logic is controlled exchanging knives process.The present invention does not relate to the control method of PLC and I/O device.
The feed process relates to the real-time control of cutter track curve.
Therefore, in the process of workpiece, digital control system only has three kinds of duties: subsidiary function operation, switching value are controlled, the real-time control of cutter track curve.Data stream association is controlled and is described this three kinds of duties with status command, switch order, track instruction three type games instructions.
One, movement instruction
1), status command and subsidiary function operation
Status command is used for describing subsidiary function.
Status command can be divided into system initialization status command and system running state instruction.
The system initialization status command is used for arranging/revising some parameters, such as the initiation parameter of setting servo drive, the initiation parameter of tool magazine etc.The system running state instruction is used for the running status of initialization system, for example, arrange automatically, manually, the running statuses such as designated program section, startup, end, time-out, realize the functions such as detection, parameter adjustment, fault diagnosis.
Status command comprises function byte, auxiliary byte.
(1), function byte
Function byte is 2 bytes, is used for describing the basic function of this status command, comprises identification code and instruction code.
The 1st function byte is the sign of status command.
B 7: the sign of status command or switch order, for example, B 7=1;
B 6: the identification code of status command, for example, B 6=0;
B 5: the parameter state of identification-state instruction, band parameter/be not with parameter;
B 4～B 0: 5 condition codes, the number of identification parameter, 32 parameters of portability at most.
The 2nd function byte is the function code of status command, totally 256 bar state instructions.
(2), auxiliary byte
Auxiliary byte is a plurality of bytes, identifies the multiple parameter values of this status command, and each parameter accounts for 2 bytes.
Status command also comprises diagnostic instruction, is used for distributing to servo drive sending a series of particular data, with the fault in diagnosis linkage table assigning process.
2), the real-time control of switch order and switch
Switch order is used for describing the parameter of switch and control thereof.
Need the technological parameter of control in real time if described switch carries, the present invention is considered as the virtual coordinates axle.
Do not need the technological parameter of control in real time if described switch does not carry, belong to conventional PLC and control.The speed of mainshaft is controlled and be can be considered the switch that carries parameter (rotating speed).
The tool changing instruction belongs to conventional PLC and controls.The present invention is considered as a kind of switch order with the tool changing instruction.As routine techniques, the present invention does not relate to the concrete control procedure of tool changing instruction.
Switch order comprises function byte, auxiliary byte.
(1), function byte
Function byte is 2 bytes, is used for describing the basic function of this switch order, comprises identification code and instruction code.
The 1st function byte is the sign of switch order.
B 7: the sign of status command or switch order, for example, B 7=0;
B 6: the identification code of switch order, for example, B 6=1;
B 5: the parameter state of identification switch instruction, band parameter/be not with parameter;
B 4～B 0: 5 condition codes, the number of identification parameter, 32 parameters of portability at most.
The 2nd function byte is the function code of switch order, totally 256 switch orders.
(2), auxiliary byte
Auxiliary byte is a plurality of bytes, identifies the multiple parameter values of this switch order, and each parameter accounts for 2 bytes.
For status command and switch order, user (or developer) but its auxiliary byte of self-defining and its function of rewriting self-defining by interpretive routine.Thereby the order format of status command and the order format of switch order are all open, support user's (or developer) secondary development.
3), the real-time control of track instruction and cutter track curve
In DRC controls, for a cutter track curve, control servo drive with a track instruction, realize the coordinate axis interlock.
In DRC controlled, the technological parameter that needs to control was in real time carried by switch, and this switch is called the virtual coordinates axle, and technological parameter is called the coordinate figure of this virtual coordinates axle.Therefore, in the present invention, coordinate axis comprises the virtual coordinates axle.
The track instruction is one-byte instruction, only has a kind of form, and its order code is:
B 7: the sign of track instruction, for example, B 7=0;
B 6～B 0: 7 sequence codes are used for the track order number.
Sequence code is set up one-to-one relationship between the track instruction of cutter track curve and its entrained linkage table, servo-actuated table; Linkage table is used for controlling relevant coordinate axis and links to produce desired resultant displacement; Servo-actuated table is used for controlling the time interval between described resultant displacement.
In the present invention, the track instruction only has a kind of form, and is irrelevant with the curve type in the cutter track curve.
Two, DRC numerical control program
In the one-pass process, the track of center cutter is called cutter track curve (Tool Path).
By given data layout, the L of a cutter track curve is cut apart △ X i, △ y i, △ Z i, △ A i, △ B i, △ W i, △ E i, △ H iData file at storage space is referred to as the linkage table that L is cut apart.By given data layout, the T of this cutter track curve is cut apart △ t i(i=1 ..., n) data file at storage space is referred to as the servo-actuated table that T is cut apart.L is cut apart with T and is cut apart the associated data stream that is referred to as the cutter track curve.
During T is cut apart, △ t iBe signless 2 byte bigits.
During L is cut apart, coordinate figure increment (△ X i, △ y iDeng) be the signed bigit of former representation, most significant digit is sign bit (+/-), the forward of respective coordinates axle/counter-rotating.Particularly, coordinate figure increment (△ X i, △ y iDeng) feeding equivalent (nanometer or micron), the shared byte number of data can be different.
In the process of workpiece, numerical control device only has subsidiary function operation, the logic control of I/O device, three kinds of duties such as real-time control of cutter track curve.Therefore, the process of workpiece generally can be divided into supporting process, exchanging knives process and feed process.Supporting process relates to the subsidiary function operation, and exchanging knives process relates to tool magazine to be controlled, and the feed process relates to the real-time control of cutter track curve.
Corresponding with these three kinds of duties, digital control system has three type games instructions: status command, switch order, track instruction.According to the order that processing technology is determined, the user describes the whole process of workpiece with status command, switch order, track instruction.
Thisly determined that by processing technology the set of the movement instruction of order is exactly the nc program of this workpiece process, the present invention is referred to as the DRC numerical control program.
The DRC numerical control program is the digital product of digital control information manufacturing system manufacturing, thereby with the traditional form of control information, gives fully digitalization as drawing, G code program etc.
The DRC numerical control program is made of movement instruction, is used for controlling the process of workpiece; Movement instruction comprises status command, switch order, track instruction;
Status command is used for the operation subsidiary function.
Switch order is used for controlling the I/O device.
The track instruction is used for controlling servo drive, completes the feed process of a cutter track curve.
Three, the structure of DRC numerical control program
As the digital product of digital control information, the structure of DRC numerical control program is the Digitized Structure of product namely.The structures shape of DRC numerical control program function and the structure of DRC controller, otherwise the function of DRC controller and structure affect again the structure of DRC numerical control program.
The process of workpiece generally comprises a plurality of feed processes.Each feed process is completed the processing of a cutter track curve.
Article one, the cutter track curve is made of some sections curves usually, and the geometry of every section curve is possible identical may be not identical yet, and the coordinate axis of synthetic every section curve is therefore possible identical may be not identical yet.
The present invention is not according to the geometry segmentation of curve, but by the coordinate axis segmentation of interlock.The coordinate axis that links in every section curve is identical, describes with a track instruction.Thereby the processing of a cutter track curve reaches journey and often uses many track instructions.
Sequence code in the track instruction is used for the track instruction by the processing sequence numbering.
In the present invention, according to the coordinate axis of interlock, described linkage table is divided into the axle linkage table.For example, about △ X i(i=1 ..., X-axis linkage table n) is about △ y i(i=1 ..., y axle linkage table n), etc.
Track instruction and the axle linkage table of cutter track curve, servo-actuated table are corresponding.
In servo-actuated table, status word is set, is used for the coordinate axis that this section of sign curve links.Status word is a byte, and the figure place of byte can be 32,16,8.For example, 8 status words can be specified the coordinate axis of 8 interlocks.From the low level to a high position, every enabled state and data channel of controlling a servo drive of status word.For example, status word " 11100000 " is specified the servo drive of the axles such as X, y, Z, the servo drive that status word " 00011000 " is specified the axles such as A, B.
Be customer parameter with figure place and the number of status word.The user can arrange by status command figure place and the byte number of status word.
In each axle linkage table file, mark sheet is set, is used for the logical attribute of this section of sign curve coordinate axis; The logical attribute of coordinate axis comprises feeding equivalent (nanometer, micron etc.), the shared byte number of data, also comprises the servo parameters such as electronic gear ratio of gear.Therefore, in the time processing process, allow each coordinate axis to have different feeding equivalents, different data word joint numbers, different electronic gear ratio of gear, to adapt to the needs of high-speed, high precision processing.
For realizing that file directory comprises the bulk informations such as filename, physical address, file structure, access control by the name accessing file.
DRC numerical control program, axle linkage table, servo-actuated table all adopt Standard File Format, the information of its DLL (dynamic link library) abundant, quantity of information is big is that G code programming interface is difficult to realize.
The DRC numerical control program is executable file; Axle linkage table, servo-actuated table are data file.DRC numerical control program, axle linkage table, servo-actuated table all adopt the standard file system such as FAT16, FAT32.
File system is the method for constituent act on disk.FAT(File Allocation Table) be a kind of widely used levels of standards system.For the mass data storage that realizes Single Chip Microcomputer (SCM) system and support Single Chip Microcomputer (SCM) system with the computing machine that uses operating system by the file system swap data, developed the chip of some file managers by name, CH376 for example, SL811, PB375A etc.The fixed disk file of file manager is built-in FAT16, FAT32 file system reads firmware, be used for reading the relevant sevtor address such as FAT table, FDT table, BPB table and the address of data field, need not configuration operation system, thereby complete independently the repertoire of file management: open, newly-built or deleted file, enumerate and search file, support long filenames etc.
Four, control flow
Data stream association is controlled procedure-oriented, configures the control resource according to the control flow of making digital control information.
Non real-timeization of axle linkage table assigning process causes the digital control information assigning process to separate from the real-time control procedure of digital control information, control flow therefore is divided into four subprocess such as digital control information generative process, digital control information assigning process, digital control information process of transmitting and digital control information implementation, and the architecture of digital control system therefore decoupling zero is that digital control information generates four functional parts such as parts, digital control information distribution member, digital control information transmit block, digital control information execution unit.
From real-time, control flow can be divided into real-time process and non real-time process.Digital control information generative process and digital control information assigning process are non real-time process, and digital control information process of transmitting and digital control information implementation are real-time process.
1), digital control information generative process
The digital control information generative process is exactly to make the process of associated data stream, the i.e. generative process of the linkage table of cutter track curve and servo-actuated table.The digital control information generative process comprises that also the generative process of DRC numerical control program is the programming process of process.
The digital control information generative process is non-real-time process.
Digital control information generates parts and generates the DRC numerical control program, comprises following content:
(1), according to the kinematics character of mechanical system, set up quadrature discrete coordinate system/nonopiate discrete coordinates system;
(2), according to the mechanical attributes of mechanical system, set up the textural constant database and be used for storing described mechanical attributes; Described mechanical attributes comprises the fine structure constant such as the displacement of the lines error, angular displacement error, backlass of coordinate axis, and the coordinate system parameter such as the nonparallelism between coordinate axis, non-perpendicularity;
(3), according to processing technology, carry out cutter track curve planning, complete cutter compensation and cutter track path planning, generation cutter track curve file;
(4), every cutter track curve in the cutter track curve file is carried out Discrete geometry planning and discrete motion planning, generate axle linkage table and the servo-actuated table of this cutter track curve, generate corresponding track instruction and axle linkage table thereof and servo-actuated table;
(5), according to user program, generate corresponding status command;
(6), according to user program, the switching value of completing in the I/O device is controlled, and generates corresponding switch order;
(7), according to processing technology, linking status instruction, switch order, track instruction generate the DRC numerical control program; The last item movement instruction is for finishing " shutdown " status command of processing.
2), digital control information assigning process
The digital control information assigning process is exactly to servo drive distributing shaft linkage table.Distribute control information in the catalogue of axle linkage table.
By the axle linkage table is distributed to corresponding servo drive in advance, thereby with non real-timeization of assigning process of linkage table.
3), digital control information process of transmitting
Digital control information process of transmitting and digital control information implementation relate to the operational process of DRC numerical control program.
DRC numerical control program operational process is the implementation of movement instruction namely, comprises reading movement instruction and the interpretive routine of carrying out this movement instruction from the DRC numerical control program.
In the fetching process, the function byte of movement instruction writes the movement instruction register, other bytes of analyzing and processing, and the address of next movement instruction writes the movement instruction pointer; In the process of implementation, carry out the interpretive routine of this movement instruction, complete the function of described movement instruction appointment.
If decoding is judged to be status command, carry out the interpretive routine of this status command;
If decoding is judged to be switch order, carry out the interpretive routine of this switch order;
If decoding is judged to be the track instruction, carry out the interpretive routine of this track instruction.
Status command and switch order implementation belong to supporting process, and less demanding to real-time belongs to routine techniques.
The implementation of track instruction is exactly the feed process, and namely the real-time control procedure of a cutter track curve, be the Core Feature of digital control system.
The process of workpiece generally comprises a plurality of feed processes.Each feed process is completed the processing of a cutter track curve.With the feed process of a cutter track curve of a track instruction description, every corresponding axle linkage table of track instruction and a servo-actuated table.In the DRC numerical control program, the instruction of m bar track is generally arranged, thereby, m axle linkage table and m servo-actuated table arranged.
Article one, the cutter track curve is made of some sections curves usually, and the geometry of every section curve may be different.In invention, the different segment of curve of geometry is considered as different cutter track curves.
After non real-timeization of digital control information assigning process, the axle linkage table of m bar track instruction is stored in the axle linkage table file memory of servo drive, and the servo-actuated table of m bar track instruction is stored in the servo-actuated list file storer of real-time control module.Thereby, be necessary for axle linkage table after separation and servo-actuated table and set up and contact.
Every sequence code is carried in the track instruction, identifies the position of this track instruction in the DRC numerical control program.The axle linkage table comprises the axle linkage table of every track instruction as son file, and its catalogue comprises sequence code; Servo-actuated table comprises the servo-actuated table of every track instruction as son file, and its catalogue also comprises sequence code.Thereby for all track instructions, sequence code is that every track instruction and its axle linkage table, servo-actuated table have been set up corresponding relation.
So, after non real-timeization of digital control information assigning process, in the real-time control procedure of cutter track curve, link for controlling relevant coordinate axis, need only be according to the coordinate axis of status word appointment to the unidirectional transmission synchronizing pulse of relevant servo drive.For narrating for simplicity, this group synchronizing pulse under status word is controlled is referred to as linkage command.
Thereby after non real-timeization of digital control information assigning process, the digital control information process of transmitting just is reduced to according to controlling rhythm and pace of moving things △ t i(i=1 ..., n), to the unidirectional transmission linkage command of servo drive of the status word appointment of track instruction.
4), digital control information implementation
The digital control information implementation is exactly that servo drive is followed the process that linkage command is controlled coordinate axis feeding generation resultant displacement.
Servo drive reads the coordinate figure increment after receiving linkage command from the axle linkage table according to the L pointer, the writing position ring drives the coordinate axis feeding and produces resultant displacement; The L pointer adds 1, until the L pointer equals the last address of axle linkage table.
Five, interface
The interface of digital control system generally can be divided into internal interface and external interface.
1), external interface
External interface refers to network interface.
Described network interface is used for exchange message between workshop management net different digital control system, generally can adopt Industrial Ethernet interface etc., belongs to routine techniques.
2), interlock interface
The internal interface of digital control system is used for digital control information and generates exchange message between four functional parts such as parts, digital control information distribution member, digital control information transmit block, digital control information execution unit.The present invention is divided into real-time interface and non real-time interface with internal interface.
Real-time interface comprises interlock interface and I/O interface.The I/O interface is used for the switch transmit button instruction to the I/O device, belongs to routine techniques.
The present invention is referred to as with real-time interface the interface that links, and is used for sending linkage command to servo drive.
In the G code program, Real-Time Communication Interface is very complicated, there is no reconfigurability, can only expend the different fieldbus of a large amount of computational resource configuration.This situation causes CNS " GB/T18759.2-2006 mechanical electric equipment digital control system in open type part 2 architecture " to be provided with 5.6 sections, requires to support all kinds of fieldbus (such as CAN, Profibus, Sercos etc.).
In fact, existing 12 kinds more than of the international standard of fieldbus, the company standard of manufacturer is more.Unfortunately, many standards just mean does not have standard.
In the existing digital control system in open type based on the IEEE definition, the coordinate figure increment that fieldbus adopts the periodic communication mode to produce to servo drive real-time synchronization transmission interpolation, communication cycle becomes systematic parameter, and the compatibility of real-time synchronization mechanism, data representation becomes the key of transmission.
In the present invention, after the digital control information assigning process separates from the real-time control procedure of digital control information, the axle linkage table is distributed to servo drive in non real-time, the real-time Communication for Power process deteriorates to according to controlling the rhythm and pace of moving things, to the unidirectional real-time transmission linkage command of the servo drive of status word appointment, control procedure is able to Simplification in real time, and the interlock interface is able to Simplification.
At transmitting terminal, the interlock interface class is like pressing △ t i(i=1 ..., rhythm and pace of moving things n) is the parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected with a data bit of interlock interface respectively, and similar one interrupts control line.
For servo drive, linkage command is synchronizing pulse, and the interlock interface is not communication interface.Thereby, in the technical program, there is not the real-time Communication for Power process.
3), non real-time interface
Non real-time interface is used at supporting process to servo drive distributing shaft linkage table in non real-time.
Importantly, the assigning process of axle linkage table is non real-time, do not exist real time problems thereby need not real-time synchronization mechanism, not having periodic communication thereby communication cycle is no longer systematic parameter.The axle linkage table is normative document, does not have the problem of other formulation communication protocol.
Therefore, non real-time interface can be any standard serial interface, comprises fieldbus, RS232 and RS485 interface, USB interface, mobile memory, wave point etc.
Six, DLL (dynamic link library)
So-called DLL (dynamic link library) refers to when exchanging job sequence between different NC system, the routine interface between job sequence.
In the open existing digital control system based on the IEEE definition, adopt the G code standard as the DLL (dynamic link library) of nc program.
Different from the nc program of existing G code, the DRC numerical control program is characterised in that:
1), G code program object-oriented, DRC numerical control program Control-oriented flow process
In the existing digital control system in open type based on the IEEE definition, adopt the G code standard as the DLL (dynamic link library) of nc program.The fifties in last century paper tape as the input basic physical medium the time, represent character on paper tape for standard, formulated the coding standard of tape punch, i.e. the G code standard.
The G code program is OO.In the G code program, with different interpolation instructions, different curves in a cutter track curve are described.Must realize different interpolation instructions with different interpolation iterative algorithms again for different curves, the processing on real-time process of curve is interpolated the iterative algorithm real time implementation, thereby causes the interpolation iterative algorithm to become the real-time control algolithm of OO sealing.
In the DRC numerical control program, the track instruction is towards the process of cutter track curve.The DRC numerical control program is the Control-oriented flow process.
2), the standardization of control information
In the interpolation iterative algorithm, each coordinate axis must have identical logical attribute.In case the logical attribute of coordinate coordinate axis is different, for example, feeding equivalent (nanometer, micron etc.) is different, the byte number of data is not equal, corresponding variation all will occur in the function of digital control system and structure, has restricted opening and the reconfigurability of system from real-time control procedure and real-time Communication for Power process two aspects.
The G code standard is the primary product of infotech starting stage, is subjected to the restriction of paper tape inevitably to have the very few defective of quantity of information.Each manufacturer thereby G code has all been carried out the expansion outside the basic semantic, cause the dependence of G code program and corresponding hardware, nc program does not have interchangeability between different digital control systems, cause various digital control systems incompatible, hinder the exchange of control information with shared, the consistance that does not possess man-machine interface has restricted opening and the reconfigurability of digital control system from the DLL (dynamic link library) aspect.
The axle linkage table of track instruction and servo-actuated table carry the needed whole digital control informations of processing cutter track curve, generate parts by digital control information and create in non real-time, allow each coordinate axis to have different logical attributes.
DRC numerical control program, axle linkage table, servo-actuated table etc. all transmit in system with the form of levels of standards, and also the form with file transmits between different digital control systems.These files meet filespec, adopt standard file system such as FAT16, FAT32.Levels of standards becomes the carrier of digital control information, and is irrelevant with hardware platform, irrelevant with the software platform such as operating system, has platform-neutral widely, realized the opening of digital control information.Levels of standards replaces the G code program, becomes a kind of standardized DLL (dynamic link library) that is easy to, and is conducive to the standardization of control information.
Seven, the real-time control of cutter track curve
The implementation of track instruction relates to digital control information transmit block and servo drive.For the sake of simplicity, the digital control information transmit block comprises that referred to as real-time control module the interlock coordinate axis arranges module, linkage command arranges module, rhythm and pace of moving things control module, terminal point control module.
1, control module sends linkage command in real time
T pointer: the △ t that is used for reading servo-actuated table i(i=1 ..., n).
L pointer: the coordinate figure component that is used for reading the axle linkage table.
When carrying out the track instruction, track instruction execution module arranges running mark, starts real-time control module.
Control module is being dominated the implementation of track instruction according to the control rhythm and pace of moving things in real time, and the real-time control procedure of coordinate axis interlock is converted into following process:
Step 1, interlock coordinate axis setting steps: according to the sequence code of track instruction, the interlock coordinate axis arranges module the first address of servo-actuated table is write the T pointer, and reading state word and write state word register from servo-actuated table are specified the coordinate axis of interlock;
Step 2, linkage command setting steps: according to the T pointer, linkage command arranges module and reads △ t in servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step 3, rhythm and pace of moving things control step: T are cut apart in timer arrives, and pulse of rhythm and pace of moving things control module starting impulse generator output is by the servo drive transmission linkage command of interlock interface to the status word register appointment;
Step 4, terminal point are controlled step: the terminal point control module is controlled the terminal point of track instruction, if the T pointer equals the last address of servo-actuated table, namely arrives the terminal point of track instruction, closes running mark; Otherwise, the next △ t of T pointed i, repeating step 2 is to step 4;
The running mark of the real-time control module of track instruction execution module inquiry if arrive the terminal point of track instruction, is carried out next movement instruction.
2, servo drive is controlled the coordinate axis feeding
After servo drive receiving axes linkage table, with the execute flag set; According to the sequence code of the axle linkage table of track instruction, the first address of axle linkage table is write the L pointer; According to the mark sheet in axle linkage table file, the logical attribute of coordinate axis is set.
Servo drive is followed linkage command after receiving linkage command, and axle linkage table control module reads the coordinate figure increment according to the L pointer from its axle linkage table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement; The L pointer adds 1, until the L pointer equals the last address of axle linkage table, with the execute flag reset, prepares to carry out the axle linkage table of next track instruction.
So, the real-time control procedure of so-called cutter track curve is exactly according to controlling the rhythm and pace of moving things, controlling the process that is read the coordinate figure increment by the servo drive of status word appointment and write its position ring from the axle linkage table.Control module produces linkage command in real time; Follow linkage command, servo drive constantly drives the coordinate axis feeding and produces resultant displacement.So go round and begin again, until the T pointer arrives the last address of servo-actuated table, namely arrive the terminal point of described track instruction.
For example, for the 5 axle interlocks such as X, y, Z, A, B, status word is " 11111000 ", and in the time of in fact, control procedure is exactly, and control module is constantly with the control rhythm and pace of moving things △ t in servo-actuated table in real time i(i=1 ..., n) write T and cut apart timer, produce linkage command and send linkage command by the interlock interface to servo drives such as X, y, Z, A, B; The servo drives such as X, y, Z, A, B are followed linkage command, and axle linkage table control module separately constantly synchronously reads respectively △ X from axle linkage table separately i, △ y i, △ Z i, △ A i, △ B iAnd the writing position ring, drive the coordinate axis feeding and produce resultant displacement.So renew in week, until the terminal point of described cutter track curve.
Eight, the system of architecture realizes technical scheme
In the existing digital control system in open type based on the IEEE definition, the interpolation cycle of real time operating system and the communication cycle of fieldbus are two system clocks.Follow the beat of interpolation cycle and communication cycle, the digital control information of cutter track curve constantly generates, distributes, sends, carries out, thereby goes round and begins again in the mode of the real-time iteration of the real-time iteration of digital control information and control procedure.In this architecture, the real-time control procedure of cutter track curve had both comprised the real-time iteration of digital control information and the real-time iteration of control procedure, comprise again the real-time Communication for Power process, relate to the series of complex factors such as software platform such as hardware platform, real time operating system such as the figure place of kinematics/dynamic characteristic, processor of technology characteristics, the mechanical system of geometric properties, the process of the precision of interpolation iterative algorithm and speed, cutter track curve and arithmetic speed.
The technical program is controlled resource according to the control flow configuration of the generation of digital control information, distribution, transmission, execution, and wherein, generative process and assigning process are non real-time process, and process of transmitting and implementation are real-time process.
The technical program is reduced to the real-time control procedure of cutter track curve according to the control rhythm and pace of moving things △ t in servo-actuated table i(i=1 ..., n), by the interlock interface to the unidirectional transmission linkage command of the servo drive of status word appointment; Servo drive is followed linkage command, with the writing position ring successively of the coordinate figure increment in described axle linkage table, drives the interlock of corresponding coordinate axle and produces resultant displacement.Thereby the decoupling zero of digital control information implementation is interlock information and executing process and positional information implementation.
The technical program is with the control rhythm and pace of moving things △ t in servo-actuated table i(i=1 ..., n) replaced interpolation cycle, cancelled the control of real time operating system to real-time control procedure.The technical program has replaced very complicated real-time Communication for Power with the linkage command of the simplest unidirectional transmission, has cancelled existing field boundary bus to the control of real-time control procedure.Thereby technique scheme has thoroughly been removed operating system and the restriction of existing field boundary bus to real-time control procedure, for the system of restructural digital control system realizes that technology has indicated direction.
Fig. 1 is the process illustraton of model based on control flow, and wherein solid line represents real-time process, and dotted line represents non real-time process.For clarity sake, can increase the implementation of feedback information in servo drive in Fig. 1, as Fig. 2.
Process data model contrast with the existing digital control system in open type that defines based on IEEE, above-mentioned process model has very clearly been described the architecture of digital control system in open type, has disclosed technical scheme and the gordian technique of reasonable disposition control resource in different control flows.
In order to be illustrated more clearly in the technical program, and realize that with system based on the existing digital control system in open type of IEEE definition technology compares, for the example of an imagery.
Band performance's symphony, the symphony melody is equivalent to the cutter track curve, and various musical instruments are equivalent to coordinate axis, and the performer is equivalent to servo drive, and real time operating system is equivalent to the conductor.
in the existing digital control system in open type based on the IEEE definition, in the playing procedure (process of cutter track curve) of symphony melody, stardom's (servo drive) does not know to play the symphony melody (cutter track curve) of what tune in advance, conductor's (real time operating system) must be divided into some tunes (real-time interpolation calculates the coordinate figure increment) with the symphony melody by isometric timeslice (interpolation cycle) at the scene of playing, and every section song is successively informed each performer (servo drive carries out real-time Communication for Power by existing field boundary bus) by certain real-time mode, each performer successively every section song of real time record plays.The extreme complicacy of this pattern is apparent.
In the technical program, by rehearsal (Discrete geometry planning and discrete motion planning), the symphony melody is by its inherent melody (not isometric rhythm and pace of moving things △ t in servo-actuated table i) be divided into some tunes, and be the prior music score (distributing shaft linkage table) that distributes a mark the tune order of each performer, conductor's (control module in real time) need only be according to the control rhythm and pace of moving things △ t in servo-actuated table at the scene of playing i(i=1 ..., n), inform that with baton (sending linkage command by the interlock interface) each performer, each performer follow order that baton sends and browse oneself music score (axle linkage table) and play.The height simplicity of this pattern is also apparent.
1, some definition
1), digital control information generates parts
Digital control information generates parts based on PC, comprises status command generation module, switch order generation module, track instruction generation module, DRC numerical control program generation module.
2), digital control information distribution member
The digital control information assigning process is exactly that the coordinate figure increment in linkage table is distributed to relevant servo drive, for example, and with △ X i, △ y i, △ Z i, △ A i, △ B iDistribute to the servo drive of 5 coordinate axis such as X, y, Z, A, B.
The digital control information distribution member comprises axle linkage table file memory, axle linkage table distribution module, serial line interface.
3) digital control information transmit block
The digital control information transmit block is used for sending in real time linkage command according to controlling the servo drive of the rhythm and pace of moving things to the status word appointment.For simplicity, the digital control information transmit block renames as real-time control module.
In real time control module relates to from file memory and reads △ t servo-actuated table i(i=1 ..., n) and status word.Servo-actuated list file is to follow by the operating system of PC the normative document that writes servo-actuated list file storer such as FAT16, FAT32 file system standard.In the technical program, control module also comprises servo-actuated list file storer in real time, and configured the file read module that solidifies, and be used for reading the relevant sevtor address such as FAT table, FDT table, BPB table and the address of data field, thus irrelevant with the hardware and software platform of PC.
In multi-CPU system, usually adopt dual port RAM as the data exchange interface between CPU.In the technical program, dual port RAM is used for storing servo-actuated list file, and control module is connected with the PC system by dual port RAM in real time, and reads PC and write △ t in servo-actuated table in dual port RAM i(i=1 ..., n) and status word, but with the operating system independent of PC.
4), digital control information execution unit
The digital control information execution unit comprises servo drive and I/O device.As routine techniques, present embodiment does not relate to for the control stream of controlling the I/O device.
The digital control information implementation be exactly servo drive with coordinate figure increment writing position ring, drive the coordinate axis feeding.
5), motion interface
Motion interface comprises non real-time interface, interlock interface.
Described non real-time interface is various standard serial interfaces, such as fieldbus, RS232 interface, RS485 interface, USB interface, mobile memory, wave point etc.
Described interlock interface, at transmitting terminal, the similar △ t that presses i(i=1 ..., rhythm and pace of moving things n) is the parallel interface of uni-directional transmission state word constantly, comprises that status word register, T pointer, T cut apart timer, pulse producer; At receiving end, a servo drive is connected with a data bit of interlock interface respectively, and similar one interrupts control line.
6), application of numeric control programming system
The application of numeric control programming system comprises DRC numerical control program, interpretive routine storer, DRC numerical control program operation module.
DRC numerical control program operation module comprises movement instruction fetching module, status command execution module, switch order execution module, track instruction execution module.
Movement instruction fetching module is used for the first address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next movement instruction is write the movement instruction pointer; Described movement instruction pointer is used to specify the address of next movement instruction;
If movement instruction is status command, the status command execution module is carried out the interpretive routine of this status command; If movement instruction is switch order, the switch order execution module is carried out the interpretive routine of this switch order; If movement instruction is the track instruction, track instruction execution module is carried out the interpretive routine of this track instruction.
2, architecture
Fig. 3 is a kind of architectural schematic of reconfigurable CNC system, Fig. 4 to Fig. 6 is the functional block diagram of each parts, comprises PC system 1, interpretive routine storer 2, control module 3, servo drive 4, I/O device 5, serial line interface 6, interlock interface 7, I/O interface 8 in real time.PC system 1 is connected with servo drive 4 by serial line interface 6, is connected with I/O device 5 by I/O interface 8.PC system 1 comprises that digital control information generates parts, digital control information distribution member, application of numeric control programming system, be connected with real-time control module by the internal bus such as PCI, be connected with the digital control information execution unit by serial line interface, I/O interface, consist of all-in-one-piece architecture.
PC system 1 can also be connected with real-time control module by dual port RAM, both shares servo-actuated table.
PC system 1 is used for generating the DRC numerical control program of controlling workpiece process, comprises status command generation module 11, switch order generation module 12, track instruction generation module 13, DRC numerical control program generation module 14, axle linkage table distribution module 15, DRC numerical control program operation module 16.
The function of above-mentioned module is:
Status command generation module 11 is used for generating the status command of controlling supporting process.
Switch order generation module 12 is used for generating the switch order of controlling the I/O device.
Track instruction generation module 13 is used for generating the track instruction that the control servo drive is completed cutter track curve feed process.Track instruction generation module comprises Discrete geometry planning module and discrete motion planning module.The Discrete geometry planning module be used for to generate the linkage table that the L that stores the cutter track curve is cut apart; Described L is cut apart for controlling coordinate axis interlock generation resultant displacement; Described linkage table is divided into the axle linkage table of each axle; Described axle linkage table is cut apart component for the L of the relevant coordinate axis of storage, controls this coordinate axis and produces axial translation.The T that the discrete motion planning module is used for storing the cutter track curve is cut apart the servo-actuated table with status word; Described T was cut apart be used to the time interval of controlling between described axial translation; Described status word is used to specify the coordinate axis of interlock.
DRC numerical control program generation module 14 is used for according to processing technology, status command, switch order, track instruction being linked as the DRC numerical control program.
Axle linkage table distribution module 15 is used for by serial line interface 6 to servo drive 4 distributing shaft linkage tables.
DRC numerical control program operation module 16 is for moving the DRC numerical control program, and supporting process is controlled in the executing state instruction, the execution switch order is controlled I/O device 5, the real-time control module 3 of execution track instruction startup by I/O interface 8 and completed the process of cutter track curve by interlock interface 7 control servo drives 4.Comprise movement instruction fetching module 161, status command execution module 162, switch order execution module 163, track instruction execution module 164.Movement instruction fetching module 161 is used for the address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next movement instruction is write the movement instruction pointer; Described movement instruction pointer is used to specify the address of next movement instruction.If described movement instruction is status command, described status command execution module 162 is used for carrying out the interpretive routine of this status command; If described movement instruction is switch order, described switch order execution module 163 is used for carrying out the interpretive routine of this switch order; If described movement instruction is the track instruction, described track instruction execution module 164 is used for carrying out the interpretive routine of this track instruction.
Interpretive routine storer 2 is used for storing the interpretive routine of above-mentioned status command, switch order, track instruction.
In real time control module 3 is connected with PC system 1 by internal bus, for the control rhythm and pace of moving things △ t according to servo-actuated table i(i=1 ..., n), send linkage command by interlock interface 7 to servo drive 4; Described linkage command is used for controlling synchronous between the coordinate axis of described status word appointment;
Servo drive 4 is provided with axle linkage table initialization module 41 and axle linkage table control module 42.After the receiving axes linkage table, axle linkage table initialization module 41 is used for execute flag is set, and according to the sequence code of track instruction, the first address of axle linkage table is write the L pointer; According to the mark sheet in axle linkage table file, the logical attribute of coordinate axis is set.Follow linkage command, axle linkage table control module 42 reads coordinate figure increment and the writing position ring of this axle from the axle linkage table according to the L pointer, drive the coordinate axis feeding and produce resultant displacement, until the L pointer equals the last address of described axle linkage table, close execute flag.
In the technical program, axle linkage table file also comprises mark sheet; Described mark sheet is used for the logical attribute of this coordinate axis of sign; Described logical attribute comprises byte number, the electronic gear ratio of gear of feeding equivalent, data.In the existing digital control system in open type based on the IEEE definition, the interpolation iterative algorithm requires the coordinate axis of interlock must have identical logical attribute.In case the logical attribute of coordinate coordinate axis is different, for example, feeding equivalent (nanometer, micron etc.) is different, the byte number of data is not equal, corresponding variation all will occur in the function of digital control system and structure, has restricted opening and the reconfigurability of system from real-time control procedure and real-time Communication for Power process two aspects.Thereby this technical characterictic of the technical program has overcome defects.
In the technical program, serial line interface 6 only is used in non real-time process servo drive 4 transmission axle linkage tables, thereby its concrete structure is not subjected to appoint restriction, and fieldbus, RS232 interface, RS485 interface, USB interface or wave point etc. all can adopt.This just means, needn't be serial line interface 6 formulation standards, in other words, standardization of serial line interface 6.
In sum, in the technical program, the system of reconfigurable computer digital control system realizes that technical scheme has following technical characterictic:
Control flow is divided into four subprocess such as digital control information generative process, digital control information assigning process, digital control information process of transmitting and digital control information implementation and the corresponding resource of controlling of configuration;
Digital control information generative process and non real-timeization of digital control information assigning process;
The DRC numerical control program that status command, switch order, track instruction are write is as DLL (dynamic link library);
The track instruction only has a kind of form, and is irrelevant with the curve type in the cutter track curve.
The track instruction separates with linkage table, servo-actuated table; The axle linkage table conduct of each coordinate axis in linkage table is son file independently, distributes to servo drive by non real-time serial line interface and be stored in its axle linkage table storer in supporting process; Servo-actuated table arranges status word, is used to specify the coordinate axis of interlock, and the byte number of status word is customer parameter; Axle linkage table file arranges mark sheet, is used for the logical attribute of coordinate axis is set, thereby the processing problem of coordinate axis logical attribute is moved forward to servo drive;
Described file meets filespec, adopts standard file system such as FAT16, FAT32.Levels of standards becomes the carrier of digital control information, and is irrelevant with hardware platform, irrelevant with the software platform such as operating system.
Aspect architecture, the PC system comprises that digital control information generates parts, digital control information distribution member, application of numeric control programming system; In real time control module is as the external unit of hard disk and so on, is connected with the PC system by the internal bus such as PCI or the form of sharing servo-actuated table by dual port RAM.
The PC system transfers the control of the real-time control procedure of cutter track curve to real-time control module.Control module is according to the control rhythm and pace of moving things △ t in servo-actuated table in real time i(i=1 ..., n), by the servo drive transmission linkage command of interlock interface to the status word appointment; Servo drive is followed linkage command, with the writing position ring successively of the coordinate figure increment in described axle linkage table, drives the interlock of corresponding coordinate axle and produces resultant displacement.
The technical program above-mentioned technical characterictic farthest simplified the real-time control method of cutter track curve, cause the architecture of reconfigurable computer digital control system and the major transformation of real-time control method, and solved the reconstruction of reconfigurable computer digital control system with very simple technological means.
Digital control method based on above-mentioned reconfigurable computer digital control system comprises the steps:
Step 1, DRC numerical control program generate step: be used for PC system 1 and generate the DRC numerical control program, comprise the steps:
Step 101, track instruction generate step: track instruction generation module generates controls the track instruction that servo drive is completed cutter track curve feed process, comprises Discrete geometry planning step and discrete motion planning step; The Discrete geometry planning step is used for the Discrete geometry planning module and generates the linkage table that the L that stores the cutter track curve is cut apart; Described L is cut apart for controlling coordinate axis interlock generation resultant displacement; Described linkage table is divided into the axle linkage table of each axle, and the L that is used for each coordinate axis of storage is cut apart component, controls this coordinate axis and produces axial translation; The discrete motion planning step is used for the discrete motion planning module and generates the T that stores the cutter track curve and cut apart servo-actuated table with status word; Described T was cut apart be used to the time interval of controlling between described axial translation; Described status word is used to specify the coordinate axis of interlock.
Step 102, status command generate step: the status command generation module generates the status command of controlling supporting process.
Step 103, switch order generate step: the switch order generation module generates the switch order of controlling the I/O device.
Step 104, DRC numerical control program generate step: DRC numerical control program generation module is linked as the DRC numerical control program according to processing technology with described status command, described switch order, described track instruction.
Step 2, axle linkage table allocation step: axle linkage table distribution module 15 is distributed described axle linkage table by serial line interface 6 to servo drive 4.
Step 3, DRC numerical control program operating procedure: the DRC numerical control program operation module 16 described DRC numerical control programs of operation comprise the steps:
Movement instruction fetching step: movement instruction fetching module 161 first addresss with the DRC numerical control program write the movement instruction pointer and read movement instruction, the function byte of movement instruction is write the movement instruction register, the address of next movement instruction is write the movement instruction pointer; Described movement instruction pointer is used to specify the address of next movement instruction;
The status command execution in step: if the movement instruction in movement instruction fetching step is status command, 162 interpretive routines of carrying out this status command of status command execution module;
The switch order execution in step: if the movement instruction in movement instruction fetching step is switch order, 163 interpretive routines of carrying out this switch order of switch order execution module;
Track instruction execution in step: if the movement instruction in movement instruction fetching step is the track instruction, 163 interpretive routines of carrying out this track instruction of track instruction execution module.
PC system 1 at first to servo drive 4 distributing shaft linkage tables, then moves the DRC numerical control program by serial line interface 6.Wherein during the running orbit instruction, track instruction execution module 164 starts real-time control modules 3, transfers the control of the real-time control procedure of cutter track curve to real-time control module 3.
Control module 3 is according to the control rhythm and pace of moving things △ t in servo-actuated table in real time i(i=1 ..., n), send linkage command by interlock interface 7 to servo drive 4; 4 of each servo drives are followed linkage command, with the writing position ring successively of the coordinate figure increment in axle linkage table separately, drive coordinate axis feeding separately, produce resultant displacement.So go round and begin again, until the T pointer equals the last address of servo-actuated table, namely arrive the terminal point of this track instruction, close running mark, DRC numerical control program operation module is carried out next movement instruction.
Track instruction execution module 164 is in query State after transferring control to real-time control module 3, inquires about the running status of real-time control module 3.If running mark is closed, carry out next movement instruction, until carry out stop instruction, finish the process of workpiece.
Particularly, the real-time control procedure of cutter track curve comprises the steps:
Step a, interlock coordinate axis setting steps: according to the sequence code of described track instruction, the interlock coordinate axis arranges module 31 first address of servo-actuated table is write the T pointer, and reading state word and write state word register from servo-actuated table are specified the coordinate axis of interlock;
Step b, linkage command setting steps: according to the T pointer, linkage command arranges module 32 and reads △ t in servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step c, rhythm and pace of moving things control step: T are cut apart in timer arrives, and pulse of rhythm and pace of moving things control module 33 starting impulse generators outputs is by the servo drive 4 transmission linkage commands of interlock interface 7 to the status word register appointment;
Steps d, linkage table are controlled step: follow described linkage command, the axle linkage table control module 41 of servo drive 4 reads the coordinate figure increment according to the L pointer from its axle linkage table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement;
Step e, terminal point are controlled step: terminal point control module 34 is controlled the terminal point of track instruction, if the T pointer equals the last address of servo-actuated table, namely arrives the terminal point of described track instruction, closes running mark; Otherwise, the next △ t of T pointed i, repeating step b is to step e.
For the reconstruct of mechanical system, at first must carry out motion planning to mechanical system.
The widespread use of CAD/CAM/CAE technology, particularly the CAE technology is with the analytical calculation of the problems such as the multi-dimensional movement relation of Computer Aided Solution complex mechanical system, rigidity, stability, dynamic response, thermal deformation and the optimal design of structural behaviour, become requisite numerical evaluation instrument in the motion planning of mechanical system and structure optimization.Therefore, in the present embodiment, the motion planning of mechanical system is considered as conventional CAE technology.
The reconstruct of the reconfigurable computer digital control system in present embodiment relates to following problem.
1), the reconstruction of discrete coordinates system
After mechanical system reconstruct, CAE carries out motion planning and structure optimization to mechanical system, obtains the kinematic relation of mechanical system.To the mechanical system after reconstruct, must the reconstruction discrete coordinates be.
2), the reconstruction of textural constant database
After mechanical system reconstruct, mechanical attributes changes.According to the mechanical attributes after mechanical system reconstruct, reconstruct textural constant database; Described mechanical attributes comprises the fine structure constant such as the displacement of the lines error, angular displacement error, backlass of coordinate axis, and the coordinate system parameter such as the nonparallelism between coordinate axis, non-perpendicularity.
3), the reconstruction of status command and switch order
Status command relates to the subsidiary function operation, and the switching value that switch order relates in the I/O device is controlled, and is both all inseparable with the ad hoc structure of mechanical system, belongs to personalized function.After mechanical system reconstruct, status command and switch order often need reconstruct.
In the technical program, the definition of status command and switch order and explanation operation thereof all based on PC, are open.But the parameter value in its auxiliary byte of user's self-defining is also realized the function of self-defining by rewriteeing interpretive routine.
Definition status instruction and switch order in PC are write it and explained that working procedure all carries out at client layer, and be irrelevant with hardware platform, the software platform of PC, is reconfigurable.
4), the reconstruction of real-time control procedure
The key problem of digital control system is to control in real time the cutter track curve.Corresponding to the reconstruct of mechanical system, the real-time control procedure of cutter track curve must need reconstruct.
The reconstruct of control procedure in real time relates to the reconstruct of track instruction and the reconstruct of interlock interface.
Existing digital control system in open type based on the IEEE definition is object-oriented rather than processor-oriented.In interpolation iteration control method, control procedure is the iterative process of digital control information and the iterative process of real-time control procedure in real time.Thereby, control procedure is inseparable with the geometric properties of cutter track curve, the technology characteristics of process, the kinematics/dynamic characteristic of mechanical system etc. in real time, inseparable with hardware platforms such as the figure place of CPU, arithmetic speeds, inseparable with software platforms such as real time operating systems, inseparable with the interpolation iterative algorithm.The real-time control procedure of cutter track curve can't be opened, and does not have reconfigurability.For different curve types, must define special-purpose interpolation instruction and configure specific interpolation module, thereby the substandard interpolation instruction of G code is restructural not.
Track instruction in the technical program only has a kind of form, and is only relevant with the number of the coordinate axis that links, irrelevant with the curve type in the cutter track curve.There is not reconstruction.
Prior art is considered as ultra-modem technology with 5 axle interlocks.In the technical program, the coordinate axis of interlock is specified by the status word in servo-actuated table, and the figure place of status word and byte number are customer parameters.The status word of one 8 can be controlled 8 coordinate axis interlocks, and the status word of 16 can be controlled 16 coordinate axis interlocks.Thereby, for the overwhelming majority's user, there is not reconstruction.If the number of axle of mechanical system surpasses the figure place of a status word, in the technical program, customer parameter that need only status word is set to 2 or 2 above bytes, and configures the interlock interface more than 2 or 2, thereby also need not reconstruct.The form of the track instruction that the technical program proposes is applicable to any mechanical system, has versatility widely.
The technical program is reduced to the real-time control module of startup with the real-time control procedure of cutter track curve.By the file read module of built-in curing, the operating system independent of its operation and PC also need not configure any embedded real-time operating system.
The interlock interface of the technical program is not Real-Time Communication Interface, and linkage command is synchronizing pulse.At transmitting terminal, the interlock interface class is like pressing △ t i(i=1 ..., the n) rhythm and pace of moving things of the appointment parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected with a data bit of interlock interface respectively, and the interlock interface class is interrupted control line like one.Thereby there is not reconstruction in the interlock interface that the technical program proposes.
5), the reconstruction of non real-time interface
Non real-time interface is a standard serial interface, and the other standards serial line interface under for example the USB interface of standard or UART support belongs to routine techniques.For the reconstruct of mechanical system, described non real-time interface need not reconstruct.
In sum, after mechanical system reconstruct, for reconfigurable computer digital control system proposed by the invention, the real-time control procedure of track instruction and cutter track curve, interlock interface and non real-time interface all need not reconstruct, need the discrete coordinates that only limits to of reconstruct to be and the textural constant database, and redefine status command and switch order at the client layer of PC, write it and explain working procedure.Thereby the technical program is converted into routine techniques means in PC with the reconstructing method of reconfigurable computer digital control system, has good reconfigurability, has solved the reconstruction of reconfigurable computer digital control system fully.
Concrete, the reconstructing method of the reconfigurable computer digital control system of the technical program comprises the steps:
Step 1, reconstruct discrete coordinates are: PC system reconfiguration discrete coordinates is; Described discrete coordinates is to comprise that quadrature discrete coordinate system and nonopiate discrete coordinates are.
Step 2, reconstruct textural constant database: PC system reconfiguration textural constant database; Fine structure constant and the coordinate system parameter of described textural constant database storing coordinate axle; The fine structure constant of described coordinate axis comprises displacement of the lines error, angular displacement error, backlass; Described coordinate system parameter comprises nonparallelism, the non-perpendicularity between coordinate axis.
Step 3, reconstituted state instruction: PC system reconfiguration status command;
Step 4, reconstruct switch order: PC system reconfiguration switch order.
Above content is the further description of the reconfigurable computer digital control system being done in conjunction with concrete preferred implementation, can not assert that concrete enforcement of the present invention is confined to these explanations.For example, the connected mode of PC system and real-time control module the concrete mode that adopts, can also adopt other multiple connected modes in the present embodiment.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make in other respects some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.

Claims (12)

1. a reconfigurable computer digital control system, is characterized in that, comprises PC system, interpretive routine storer, control module, servo drive, I/O device, serial line interface, interlock interface, I/O interface in real time;
Described PC system is connected with described servo drive by serial line interface, be connected with described I/O device by the I/O interface, be used for generating the DRC numerical control program of controlling workpiece process, comprise status command generation module, switch order generation module, track instruction generation module, DRC numerical control program generation module, axle linkage table distribution module, DRC numerical control program operation module;
Described status command generation module is used for generating the status command of controlling supporting process;
Described switch order generation module is used for generating the switch order of controlling the I/O device;
Described track instruction generation module is used for generating the track instruction that the control servo drive is completed cutter track curve feed process;
Described DRC numerical control program generation module is used for according to processing technology, status command, switch order, track instruction being linked as the DRC numerical control program;
Wherein, described track instruction generation module comprises Discrete geometry planning module and discrete motion planning module;
Described Discrete geometry planning module be used for to generate the linkage table that the L that stores the cutter track curve is cut apart; Described L is cut apart for controlling coordinate axis interlock generation resultant displacement; Described linkage table is divided into the axle linkage table of each axle, and described axle linkage table is cut apart component for the L of the relevant coordinate axis of storage, controls this coordinate axis and produces axial translation;
The T that described discrete motion planning module is used for storing the cutter track curve is cut apart the servo-actuated table with status word; Described T was cut apart be used to the time interval of controlling between described axial translation; Described status word is used to specify the coordinate axis of interlock;
Described axle linkage table distribution module is used for distributing described axle linkage table by described serial line interface to described servo drive;
Described DRC numerical control program moves module and is used for moving described DRC numerical control program, and supporting process is controlled in the executing state instruction, the execution switch order starts described real-time control module and controls by described interlock interface the process that described servo drive is completed the cutter track curve by described I/O interface control I/O device, the instruction of execution track;
Described interpretive routine storer is used for storing the interpretive routine of described status command, described switch order, described track instruction;
Described real-time control module is used for the control rhythm and pace of moving things △ t according to described servo-actuated table i(i=1 ..., n), send linkage command by described interlock interface to described servo drive; Described linkage command is used for controlling synchronous between the coordinate axis of described status word appointment;
Described servo drive is provided with axle linkage table initialization module and axle linkage table control module;
Described axle linkage table initialization module is used for execute flag is set, and according to the sequence code of described track instruction, the address of described axle linkage table is write the L pointer;
Follow described linkage command, described axle linkage table control module reads coordinate figure increment and the writing position ring of this axle from described axle linkage table according to the L pointer, drives the coordinate axis feeding and produces resultant displacement.
2. reconfigurable computer digital control system as claimed in claim 1, be further characterized in that, the byte number of described status word is customer parameter.
3. reconfigurable computer digital control system as claimed in claim 1, be further characterized in that, axle linkage table file also comprises mark sheet; Described mark sheet is used for the logical attribute of this coordinate axis of sign; Described logical attribute comprises byte number, the electronic gear ratio of gear of feeding equivalent, data.
4. reconfigurable computer digital control system as claimed in claim 1, be further characterized in that, each data bit of described interlock interface connects respectively a servo drive.
5. reconfigurable computer digital control system as claimed in claim 1, be further characterized in that, described serial line interface is fieldbus, RS232 interface, RS485 interface, USB interface or wave point.
6. reconfigurable computer digital control system as described in any one in claim 1 to 5, be further characterized in that, described DRC numerical control program operation module comprises movement instruction fetching module, status command execution module, switch order execution module, track instruction execution module;
Described movement instruction fetching module is used for the address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next movement instruction is write the movement instruction pointer; Described movement instruction pointer is used to specify the address of next movement instruction;
If described movement instruction is status command, described status command execution module is used for carrying out the interpretive routine of this status command;
If described movement instruction is switch order, described switch order execution module is used for carrying out the interpretive routine of this switch order;
If described movement instruction is the track instruction, described track instruction execution module is used for carrying out the interpretive routine of this track instruction.
7. reconfigurable computer digital control system as claimed in claim 6, be further characterized in that, described track instruction execution module arranges running mark, starts described real-time control module;
Described real-time control module comprises that the interlock coordinate axis arranges module, linkage command arranges module, rhythm and pace of moving things control module, terminal point control module;
Described interlock coordinate axis arranges module and is used for the address of servo-actuated table is write the T pointer, and reading state word and write state word register from described servo-actuated table are specified the coordinate axis that links;
Described linkage command arranges the △ t that module is used for reading described servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that T is cut apart in timer arrives, and described rhythm and pace of moving things control module is used for pulse of starting impulse generator output, by the servo drive transmission linkage command of interlock interface to described status word register appointment;
Described terminal point control module is used for controlling the terminal point of described track instruction, if described T pointer equals the last address of described servo-actuated table, namely arrives the terminal point of described track instruction, closes running mark; Otherwise, the next △ t of T pointed i
8. reconfigurable computer digital control system as claimed in claim 7, be further characterized in that, described real-time control module also comprises servo-actuated list file storer and file read module, is connected with described PC system by internal bus;
Described servo-actuated list file storer is used for receiving and storing servo-actuated list file;
Described file read module is used for reading described servo-actuated list file.
9. reconfigurable computer digital control system as claimed in claim 7, be further characterized in that, described real-time control module is connected with the PC system by dual port RAM;
The described servo-actuated table of storage in described dual port RAM.
10. the digital control method of a reconfigurable computer digital control system, is characterized in that, comprises the steps:
Step 1, DRC numerical control program generate step: be used for the PC generation DRC of system numerical control program, comprise the steps:
Step 101, track instruction generate step: track instruction generation module generates controls the track instruction that servo drive is completed cutter track curve feed process, comprises Discrete geometry planning step and discrete motion planning step; The Discrete geometry planning step is used for the Discrete geometry planning module and generates the linkage table that the L that stores the cutter track curve is cut apart; Described L is cut apart for controlling coordinate axis interlock generation resultant displacement; Described linkage table is divided into the axle linkage table of each axle, and the L that is used for each coordinate axis of storage is cut apart component, controls this coordinate axis and produces axial translation; The discrete motion planning step is used for the discrete motion planning module and generates the T that stores the cutter track curve and cut apart servo-actuated table with status word; Described T was cut apart be used to the time interval of controlling between described axial translation; Described status word is used to specify the coordinate axis of interlock;
Step 102, status command generate step: the status command generation module generates the status command of controlling supporting process;
Step 103, switch order generate step: the switch order generation module generates the switch order of controlling the I/O device;
Step 104, DRC numerical control program generate step: DRC numerical control program generation module is linked as the DRC numerical control program according to processing technology with described status command, described switch order, described track instruction;
Step 2, axle linkage table allocation step: axle linkage table distribution module is distributed described axle linkage table by serial line interface to servo drive;
Step 3, DRC numerical control program operating procedure: the described DRC numerical control program of DRC numerical control program operation module operation comprises the steps:
Movement instruction fetching step: movement instruction fetching module writes the first address of DRC numerical control program the movement instruction pointer and reads movement instruction, the function byte of movement instruction is write the movement instruction register, the address of next movement instruction is write the movement instruction pointer; Described movement instruction pointer is used to specify the address of next movement instruction;
The status command execution in step: if the movement instruction in movement instruction fetching step is status command, the status command execution module is carried out the interpretive routine of this status command;
The switch order execution in step: if the movement instruction in movement instruction fetching step is switch order, the switch order execution module is carried out the interpretive routine of this switch order;
Track instruction execution in step: if the movement instruction in movement instruction fetching step is the track instruction, track instruction execution module is carried out the interpretive routine of this track instruction.
11. the digital control method of reconfigurable computer digital control system as claimed in claim 10 is further characterized in that: described track instruction execution in step arranges running mark, and starts following real-time control step:
Step a, interlock coordinate axis setting steps: according to the sequence code of described track instruction, the interlock coordinate axis arranges module the first address of servo-actuated table is write the T pointer, and reading state word and write state word register from servo-actuated table are specified the coordinate axis of interlock;
Step b, linkage command setting steps: according to the T pointer, linkage command arranges module and reads control rhythm and pace of moving things △ t in servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step c, rhythm and pace of moving things control step: T are cut apart in timer arrives, and pulse of rhythm and pace of moving things control module starting impulse generator output is by the servo drive transmission linkage command of interlock interface to the status word register appointment;
Steps d, linkage table are controlled step: follow described linkage command, the axle linkage table control module of servo drive reads the coordinate figure increment according to the L pointer from its axle linkage table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement;
Step e, terminal point are controlled step: the terminal point control module is controlled the terminal point of track instruction, if the T pointer equals the last address of servo-actuated table, namely arrives the terminal point of described track instruction, closes running mark; Otherwise, the next △ t of T pointed i, repeating step b is to step e.
12. the reconstructing method of a reconfigurable computer digital control system is characterized in that, comprises the steps:
Step 1, reconstruct discrete coordinates are: PC system reconfiguration discrete coordinates is; Described discrete coordinates is to comprise that quadrature discrete coordinate system and nonopiate discrete coordinates are;
Step 2, reconstruct textural constant database: PC system reconfiguration textural constant database; Fine structure constant and the coordinate system parameter of described textural constant database storing coordinate axle; The fine structure constant of described coordinate axis comprises displacement of the lines error, angular displacement error, backlass; Described coordinate system parameter comprises nonparallelism, the non-perpendicularity between coordinate axis;
Step 3, reconstituted state instruction: PC system reconfiguration status command; Described status command is used for controlling supporting process;
Step 4, reconstruct switch order: PC system reconfiguration switch order; Described switch order is used for controlling the I/O device.
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