CN102393702A - Method and system for expanding motion control terminal - Google Patents
Method and system for expanding motion control terminal Download PDFInfo
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Abstract
A method and a system for expanding a motion control terminal are characterized in that the multiaxis expansion of the motion control system is realized by a communication method with identity identification and a network framework with one host and multiple subordinates, thereby improving the expansibility of the system. As a PC (personal computer) is taken as a host station and provided with a universal network card interface, each subordinate station is formed by a universal ethernet chip and a network motion control chip based on an FPGA (Field Programmable Gata Array). The main station sends orders and data to the subordinate stations by an ethernet according to a communication method, the subordinate stations receive the message data by the network motion control chip based on the FPGA, and by analyzing the message data, an ID number is confirmed and motion parameters and orders are sent to each motion control module, thereby controlling a motor. In the FPGA, information in the motion process is acquired by a plurality of interfaces, and the information is sent back to the host station in a regulated data packet format, thereby controlling the whole system. The method and the system simplify hardware circuits, reduce the costs for hardware, and enhance the integration degree of a chip.
Description
Technical field
The present invention relates to a kind of movement control technology, especially a kind of method and system of controlling through the means of communication realization multiaxial motion that has identification, the extended method and the system at specifically a kind of motion control terminal.
Background technology
Traditional open type movement-control system is based on PC mostly; Be about to the PCI groove that the motion control integrated circuit board inserts PC; Realize the host computer function by PC; The user is sent to motion control integrated circuit board with the kinematic parameter of expecting through pci bus through the motion control interface on the PC, and the integrated circuit board of motion control simultaneously feeds back to host computer with the actual motion parameter information of axle through pci bus, and the user can monitor the actual motion parameter in real time through the motion control interface.The realization of above-mentioned this kinetic control system needs exploitation corresponding driving program, could realize data alternately, the transmission of ordering; In case host computer hardware or operating system change, driver also will be made amendment, and the bus spread bandwidth of PC and the also restriction to some extent of the slot of PC own; Therefore, limited use in the kinetic control system of multiaxis, poor expandability; Simultaneously the method has that wiring is loaded down with trivial details, system upgrade is difficult in maintenance, shortcomings such as hardware cost costliness.
Therefore,, must take measures to improve the extensibility of system, reduce system cost from the means of communication and motion control integrated circuit board to the problems referred to above in the kinetic control system.
Summary of the invention
The objective of the invention is to existing motion control terminal quantity limited, connect up loaded down with trivial details, system upgrade is difficult in maintenance, problems such as hardware cost costliness are invented the extended method and the system at the motion control terminal that a kind of extensibility is strong, cost is low.
One of technical scheme of the present invention is:
The extended method at a kind of motion control terminal, the means of communication that it is characterized in that having an identification through employing and " one's main many from " the network architecture realizes the multiaxis expansion of kinetic control system, improves the extendability of system; Use the PC of band general network card as main website, each slave station all mainly constitutes by general Ethernet chip with based on the network motion control chip of FPGA; Main website mails to slave station to order and data through switch and Ethernet; Slave station receives message data by the network motion control chip based on FPGA, through message data parsing, ID number of confirming slave station; And kinematic parameter and order mail to each motion-control module, realize the control of motor; Simultaneously inner at FPGA, realize the information acquisition in the motion process is finally beamed back main website with the predetermined data packet format through interface, realize the control of the kinetic control system after the whole expansion.
(1) PC as main frame is the computing machine with general Ethernet network card.In PC, pass through software editing motion control interface, and realize motion control planning and interpolation operation.The Frame packing that PC uses the ICP/IP protocol of standard ethernet will comprise motion parameter data is sent to the network switch that comprises 1588 clock synchronization protocol.
(2) as the synchronous switch that connects main frame and slave, use the ethernet data frame of TCP/IP to pass through the said network switch that comprises 1588 clock synchronization protocol after, mail to each slave station.The said network switch that comprises 1588 clock synchronization protocol not only can be realized all right standard time clock of each slave station synchronously of the quick forwarding of packet, to realize Synchronous motion control.
(3) as the network slave station at terminal.It is core that the network slave station mainly adopts with FPGA, mixes the standard ethernet network chip, accomplishes network service and motion control function.Said network comprises following module from standing in FPGA inside: standard ethernet network chip interface module, message data parsing module, interface module (smart interpolation, width modulation, encoder to count and mirror to, I/O), Clock management module.
Described network motion control chip based on FPGA mainly is made up of standard ethernet network chip interface module 2-1, message data parsing module 2-3, interface module 2-4 and Clock management module 2-2, and standard ethernet network chip interface module 2-1 comprises chip initiation module, data reception module and data transmission blocks to the ethernet network chip; Interface module 2-4 receives message data, and the valid data section in the message data is delivered to message data parsing module 2-3, and said message data parsing module 2-3 mails to corresponding module with the relevant parameter data that parse respectively.
Described identification is through realizing based on the initialization module in the network motion control chip of FPGA; During initialization; Accomplish the initialized control of DM9000A based on the standard ethernet network chip interface module 2-1 in the network motion control chip of FPGA; Make DM9000A get into the transceive data waiting status, main website sends the start message data with the forms of broadcasting, and all slave stations all receive the start message data; Thereupon, the response message data of feedback oneself; Initialization is carried out data communication after accomplishing, and slave station can obtain relevant parameters and order through the parsing of data message, issues corresponding functional modules among the FPGA then, realizes motion control function.
The form of the message that described main website is sent out is: heading, data transmission interval and data are returned the district; Heading comprises that C/R position, numerical value upgrade Update Number position and slave station identification ID position; The C/R position is used for indicating the source and the direction of this packet; C/R=0 this packet of expression is the order data command that main website sends; C/R=1 this packet of expression is the response data response that slave station sends; Numerical value upgrades Update Number position and is used for distinguishing the packet that adjacent reception arrives, and therefore setting each communication cycle Update Number adds " 1 " automatically, and slave station identification ID position has indicated this unique ID value from stand in whole motion control network; Data transmission interval comprises kinematic parameter, lathe parameter and command position data; Data are returned the district and are comprised actual location data.
Two of technical scheme of the present invention is:
The kinetic control system that a kind of terminal can be expanded arbitrarily; It comprises PC 1-1, switch 1-2, motion control network slave station 1-3, signal processing circuit 1-7 and motor 1-8 as the motion control network primary station; Each motor 1-8 links to each other with corresponding signal processing circuit 1-7; Signal processing circuit 1-7 links to each other with corresponding motion control network slave station 1-3; Each motion control network slave station 1-3 links to each other with PC 1-1 as main website through Ethernet and switch 1-2; It is characterized in that described motion control network slave station 1-3 forms by RJ45 standard ethernet cable interface 1-4, general Ethernet chip 1-5 with based on the motion control chip 1-6 of FPGA; RJ45 standard ethernet cable interface 1-4 links to each other with Ethernet through general Ethernet chip 1-5 with IO interface between the main website as motion control network slave station 1-3, links to each other with signal processing circuit 1-7 based on the motion control chip 1-6 of FPGA.
Described motion control chip 106 based on FPGA mainly is made up of standard ethernet network chip interface module 2-1, message data parsing module 2-2, interface module 2-4 and Clock management module 2-2; Interface module 2-4 links to each other with signal processing circuit 1-7 and message data parsing module 2-2 respectively; Message data parsing module 2-2 links to each other with standard ethernet network chip interface module 2-1 and clock administration module 2-2 simultaneously, and standard ethernet network chip interface module 2-1 links to each other with general Ethernet chip 1-5; Standard ethernet network chip interface module 2-1 is made up of initialization module, data transmission blocks and data reception module.
Beneficial effect of the present invention:
1. the extensibility method of a kind of kinetic control system of the present invention's proposition through a kind of means of communication that have identification, realizes any expansion of kinetic control system.
2. a kind of general motion control network establishing method based on standard ethernet of the present invention's proposition has been broken away from the technology constraint that needs the dedicated network chip, has improved the versatility and the extensibility of motion control network.
3. this is the functions such as integrated control to network chip in monolithic FPGA, data protocol parsing, motion control and encoder feedback of bright proposition, thereby has simplified hardware circuit, has reduced hardware cost, has improved the integrated degree of chip.
Description of drawings
Fig. 1 is an extendible multi-shaft motion control system The general frame of the present invention.
Fig. 2 is the network slave station motion control chip block diagram based on FPGA of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
Embodiment one.
Shown in Fig. 1-2.
The extended method at a kind of motion control terminal, its adopts the means of communication have identification and " one's main many from " the network architecture to realize the multiaxis expansion of kinetic control system, improves the extendability of system.Use the PC of band general network card as main website, slave station constitutes by general Ethernet chip with based on the network motion control chip of FPGA.Main website mails to slave station to order and data according to a kind of means of communication through Ethernet; Slave station receives message data by the network motion control chip based on FPGA, resolves through message data, confirms ID number; And kinematic parameter and order mail to each motion-control module, realize the control of motor.Inner at FPGA simultaneously, realize the information acquisition in the motion process is finally beamed back main website with the predetermined data packet format through some interfaces, realize the control of total system.
(1) PC as host computer is the computing machine with general Ethernet network card.In PC, pass through software editing motion control interface, and realize motion control planning and interpolation operation.The Frame packing that PC uses the ICP/IP protocol of standard ethernet will comprise motion parameter data is sent to the network switch that comprises 1588 clock synchronization protocol.
(2) synchronous switch.The ethernet data frame that uses TCP/IP through the said network switch that comprises 1588 clock synchronization protocol after, mail to each slave station.The said network switch that comprises 1588 clock synchronization protocol not only can be realized all right standard time clock of each slave station synchronously of the quick forwarding of packet, to realize Synchronous motion control.
(3) network slave station.It is core that the network slave station mainly adopts with FPGA, mixes the standard ethernet network chip, accomplishes network service and motion control function.Said network comprises following module from standing in FPGA inside: standard ethernet network chip interface module, message data parsing module, interface module (smart interpolation, width modulation, encoder to count and mirror to, I/O), Clock management module.
The means of communication of described kinetic control system, the extensibility through identification realization control system comprises:
Initialization; Said standard ethernet network chip interface module 2-1 accomplishes the initialized control of DM9000A; Make DM9000A get into the transceive data waiting status, main website sends the start message data with the forms of broadcasting, and all slave stations all receive the start message data; Thereupon, the response message data of feedback oneself.
Initialization is carried out data communication after accomplishing, and through the parsing of data message, can obtain relevant parameters and order, issues corresponding functional modules among the FPGA then, realizes motion control function.
The means of communication of kinetic control system of the present invention is characterized in that, said message format is: heading, data transmission interval, data are returned the district.
(1) heading comprises: C/R position, numerical value upgrade (Update Number) position and slave station identification (ID) position.The C/R position is used for indicating the source and the direction of this packet, and C/R=0 this packet of expression is the order data (command) that main website sends, and C/R=1 this packet of expression is the response data (response) that slave station sends.Numerical value upgrades (Update Number) position and is used for distinguishing the packet that adjacent reception arrives, and therefore setting each communication cycle (Update Number) adds " 1 " automatically.Slave station identification (ID) position has indicated this unique ID value from stand in whole motion control network.
(2) data transmission interval comprises: kinematic parameter, lathe parameter, command position data.
(3) data are returned to distinguish and are comprised: actual location data.
Embodiment two.
Shown in Fig. 1-2.
The kinetic control system that a kind of terminal can be expanded arbitrarily; It comprises the PC 1-1 as the motion control network primary station, the switch 1-2 that comprises 1588 clock synchronization protocol, motion control network slave station 1-3, RJ45 standard ethernet cable interface 1-4, general Ethernet chip 1-5, based on network slave station motion control chip 1-6, signal processing circuit 1-7, the motor 1-8 of FPGA; Each motor 1-8 links to each other with corresponding signal processing circuit 1-7; Signal processing circuit 1-7 links to each other with corresponding motion control network slave station 1-3; Each motion control network slave station 1-3 links to each other with PC 1-1 as main website through Ethernet and switch 1-2; Described motion control network slave station 1-3 forms by RJ45 standard ethernet cable interface 1-4, general Ethernet chip 1-5 with based on the motion control chip 1-6 of FPGA; RJ45 standard ethernet cable interface 1-4 links to each other with Ethernet through general Ethernet chip 1-5 with IO interface between the main website as motion control network slave station 1-3, links to each other with signal processing circuit 1-7 based on the motion control chip 1-6 of FPGA.As shown in Figure 1, omitted among the figure between RJ45 standard ethernet cable interface 1-4 and the general Ethernet chip 1-5 network transformer and based on the hardware handles circuit of the network slave station motion control chip of FPGA.Wherein signal processing circuit comprises I/O treatment circuit, encoder signal processing circuit, pulse-width signal treatment circuit and pulse output processing circuit.
Network slave station as core cell is mainly realized in FPGA, and is as shown in Figure 2.Said motion control chip 106 based on FPGA is by constituting with lower module: standard ethernet network chip interface module 2-1, message data parsing module 2-2, interface module 2-4, Clock management module 2-2.Its each module specifically describes as follows:
1, the initialization module among the said standard ethernet network chip interface module 2-1 is accomplished the control to DM9000A, realizes utilizing Ethernet to carry out data communication, concrete steps:
(1) because after resetting, therefore the dormant state of DM9000A resuming default at first activates the PHY of DM9000A to reduce power consumption, and GPR (REG_1F) CEPI00 bit [0]=0 is set;
(2) then carry out twice warm reset, step is following: NCR (REG_00) bit [2:0]=011 is set, keeps 20us at least, remove NCR (REG_00) bit [2:0]=000; NCR (REG_00) bit [2:0]=011 is set once more, keeps 20us at least, remove NCR (REG_00) bit [2:0]=000 again;
(3) configuration NCR register is provided with NCR (REG_00) bit [2:1]=00; Be configured to normal mode.Can select inner or outside PHY, full duplex or semiduplex mode, enable network operation such as wake events through changing this register;
(4) clear to send state is provided with NSR (REG_01) bit [5]=1, [bit3]=1, [bit2]=1;
(5) through the IMR register, PRM bit [1]=1 is set, makes DM9000A when receiving a frame new data, produce one and receive the said data reception module of interrupt notification;
(6) the RCR register is set, the enable data receiving function.
2, message data sending module:
Data transmission blocks adopts the state machine programming equally, and step is following: the transmission buffer zone of DM9000A can be stored two frame data simultaneously, is labeled as frame I and frame II.In the process of transmitting at first FPGA write to the transmission buffer zone of DM9000A through write operation register MWCMD and need the Frame that sends, then data length information is write register FCH and FDH.At last, FPGA is changed to high level with transmit control register TCR, and DM9000A will accomplish the requirement of Ethernet data frame format automatically and send data.When the frame I was sent, the data of frame II can write the transmission buffer zone.After the frame I is sent completion, just can carry out the transmission of frame II, and the like, in the process of sending, what frame I and frame II will be rotated sends.
3, message data receiver module:
Corresponding with data transmission blocks is data reception module, adopts the state machine programming, and receiving course is following: when DM9000A receives new data, the PRS position of register ISR will be by reset.Equal " 0 " if FPGA inquires the PRS position, then at first recover PRS=1.Secondly the judgment data first byte has received data if 01H then shows, does not receive data if 00H then explains.If, need carry out the warm reset operation to it neither 01H neither show that DM9000 gets into unusually by 00H.After receiving the data completion, FPGA comes back to inquiry zone bit state.Receive to such an extent that data will get into message data parsing module 2-6.Said 2-6 removes lead code (preamble), SFD, destination address, source address, length/type sign indicating number and CRC check value after receiving complete ethernet data frame automatically, then user-defined data segment is carried out data protocol and resolves.
4, message data parsing module:
Whether slave station can receive the proper data bag according to ID number check.After 2-6 acknowledges receipt of correct data, get into kinematic parameter resolution data section, the notebook data packet protocol adopts the interpolation position parameter of an axle to take the method for two bytes, and the packet of each slave station can comprise the interpolation position parameter of three axles at most like this.The interpolation cycle parameter information is made up of six bytes equally, and the parameter of each takies two bytes, and fine interpolator can be set its interpolation cycle through this parameter.If C/R=1 in the packet; Be this packet be slave station send response data (response) time; Command code (Command Code) will return an initial value in the packet as response; Simultaneously the interpolation position parameter information will become the physical location value information of motion, adopt the physical location parameter of an axle to take the method for two bytes equally, and consistent with the data segment position in the command frame packet.Interpolation cycle parameter information section is back to main website by the initial value of sending equally.Data protocol module mails to fine interpolator with kinematic parameter and realizes driving pulse output, simultaneously the encoder feedback data is returned to the main website PC at next communication cycle.Lathe parameter takies 4 byte lengths of data segment.Wherein preceding 2 bytes (16bit) are used to export the I/O amount, and concrete definition is by specific lathe decision, and back 2 bytes are used to import the I/O amount, the state of expression lathe.The lathe parameter data segment will be by I/O interface module and lathe interconnection.Last 12 bytes are by the width modulation data occupancy, and width modulation is according to mailing to the width modulation output module.The Clock management module is made up of two parts, is respectively PLL frequency multiplication and Clock dividers.The PLL frequency multiplication will be imported the 30MHz clock signal frequency multiplication of FPGA to the reference clock of 100MHz as standard ethernet network chip interface module, to realize the quick transmitting-receiving of data under the 100Mbps speed.Clock dividers then with after the 30MHz frequency division as the reference clock of other modules.
5, interface module realizes the interface relevant with hardware circuit, comprises that pulse width modulation module, smart interpolation module, encoder to count and mirror are to module and I/O interface module.
In the present invention, the main website job step is:
(1) sends first start message with the forms of broadcasting;
(2) wait for slave station echo reply message;
(3) receive all slave station messages;
(4) according to ID number that returns the slave station message, confirm the slave station number;
(5) send second start message, the coupling of notice from stand in whole network ID number and axle number;
After (6) two start messages sent and accomplish, the expression communication was set up;
(7) after communication is set up, send command message and accept response message with the periodic broadcasting of 0.5ms;
(8) repeating step 7, if middle any message no response message afterwards that once sends, communicating interrupt, and report to the police.
In the present invention, slave station job step:
(1), waits for first start message that receives main website through standard ethernet network chip interface module initialization network chip;
(2) all slave stations all receive first start message, and return the response message of oneself, mainly return ID number;
(3) all slave stations all receive second start message, and the expression communication is set up;
(4) WOO message;
(5) receive command message, concurrent response message;
(6) analytic message data mail to corresponding interface module;
(7) according to the motor implementation status, be ready to response message;
(8) repeat (4).
Through the present invention; Adopt the star schema of " main many from ", communications protocol form according to the rules can be implemented under the situation of a main website a plurality of slave stations is controlled; And then realization multiaxial motion control; And the wiring of control system is simple, and more traditional motion control needs numerous and diverse signal wire, and the network-type kinetic control system only needs two common netting twines can accomplish data transmit-receive.Secondly, any PC that has common ethernet nic all can be used as main frame, can make up the motion control network fast in conjunction with slave station.The 3rd, in the function that monolithic FPGA realizes network slave station control chip, effectively practiced thrift hardware cost, simplification circuit structure, the efficient use of realization chip.
The present invention does not relate to all identical with the prior art prior art that maybe can adopt of part and realizes.
Claims (6)
1. the extended method at a motion control terminal, the means of communication that it is characterized in that having an identification through employing and " one's main many from " the network architecture realizes the multiaxis expansion of kinetic control system, improves the extendability of system; Use the PC of band general network card as main website, each slave station all mainly constitutes by general Ethernet chip with based on the network motion control chip of FPGA; Main website mails to slave station to order and data through switch and Ethernet; Slave station receives message data by the network motion control chip based on FPGA, through message data parsing, ID number of confirming slave station; And kinematic parameter and order mail to each motion-control module, realize the control of motor; Simultaneously inner at FPGA, realize the information acquisition in the motion process is finally beamed back main website with the predetermined data packet format through interface, realize the control of the kinetic control system after the whole expansion.
2. the extended method at motion control according to claim 1 terminal; It is characterized in that described network motion control chip based on FPGA mainly is made up of standard ethernet network chip interface module (2-1), message data parsing module (2-3), interface module (2-4) and Clock management module (2-2), standard ethernet network chip interface module (2-1) comprises chip initiation module, data reception module and the data transmission blocks to the ethernet network chip; Interface module (2-4) receives message data, and the valid data section in the message data is delivered to message data parsing module (2-3), and said message data parsing module (2-3) mails to corresponding module with the relevant parameter data that parse respectively.
3. the extended method at motion control according to claim 1 terminal is characterized in that described identification is through realizing based on the initialization module in the network motion control chip of FPGA; During initialization; Accomplish the initialized control of DM9000A based on the standard ethernet network chip interface module (2-1) in the network motion control chip of FPGA; Make DM9000A get into the transceive data waiting status, main website sends the start message data with the forms of broadcasting, and all slave stations all receive the start message data; Thereupon, the response message data of feedback oneself; Initialization is carried out data communication after accomplishing, and slave station can obtain relevant parameters and order through the parsing of data message, issues corresponding functional modules among the FPGA then, realizes motion control function.
4. the extended method at motion control according to claim 1 terminal; The form that it is characterized in that the message that described main website is sent out is: heading, data transmission interval and data are returned the district; Heading comprises that C/R position, numerical value upgrade (Update Number) position and slave station identification (ID) position; The C/R position is used for indicating the source and the direction of this packet; C/R=0 this packet of expression is the order data (command) that main website sends, and C/R=1 this packet of expression is the response data (response) that slave station sends, and numerical value upgrades (Update Number) position and is used for distinguishing the packet that adjacent reception arrives; Therefore setting each communication cycle (Update Number) adds " 1 " automatically, and slave station identification (ID) position has indicated this unique ID value from stand in whole motion control network; Data transmission interval comprises kinematic parameter, lathe parameter and command position data; Data are returned the district and are comprised actual location data.
5. kinetic control system that the terminal can be expanded arbitrarily; It comprises as the PC of motion control network primary station (1-1), switch (1-2), motion control network slave station (1-3), signal processing circuit (1-7) and motor (1-8); Each motor (1-8) links to each other with corresponding signal processing circuit (1-7); Signal processing circuit (1-7) links to each other with corresponding motion control network slave station (1-3); Each motion control network slave station (1-3) links to each other with PC (1-1) as main website through Ethernet and switch (1-2); It is characterized in that described motion control network slave station (1-3) forms by RJ45 standard ethernet cable interface (1-4), general Ethernet chip (1-5) with based on the motion control chip (1-6) of FPGA; RJ45 standard ethernet cable interface (1-4) links to each other with Ethernet through general Ethernet chip (1-5) with IO interface between the main website as motion control network slave station (1-3), links to each other with signal processing circuit (1-7) based on the motion control chip (1-6) of FPGA.
6. the kinetic control system that terminal according to claim 5 can be expanded arbitrarily; It is characterized in that described motion control chip based on FPGA (106) mainly is made up of standard ethernet network chip interface module (2-1), message data parsing module (2-2), interface module (2-4) and Clock management module (2-2); Interface module (2-4) links to each other with signal processing circuit (1-7) and message data parsing module (2-2) respectively; Message data parsing module (2-2) links to each other with standard ethernet network chip interface module (2-1) and clock administration module (2-2) simultaneously, and standard ethernet network chip interface module (2-1) links to each other with general Ethernet chip (1-5); Standard ethernet network chip interface module (2-1) is made up of initialization module, data transmission blocks and data reception module.
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| CN104570860A (en) * | 2014-12-22 | 2015-04-29 | 中国科学院苏州生物医学工程技术研究所 | Laser scanning confocal microscopy hardware control system and method |
| CN104699058A (en) * | 2015-03-03 | 2015-06-10 | 上海雷尼威尔技术有限公司 | Data communication method applied to safety control system |
| CN105718403A (en) * | 2016-01-18 | 2016-06-29 | 沈阳东软医疗***有限公司 | Expansion interface and method for data communication through same |
| CN105929794A (en) * | 2016-04-13 | 2016-09-07 | 上海柏楚电子科技有限公司 | Plug-and-play industrial network expansion method |
| CN105929794B (en) * | 2016-04-13 | 2018-08-21 | 上海柏楚电子科技有限公司 | A kind of industrial network extended method of plug and play |
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| CN108983691B (en) * | 2017-06-05 | 2020-02-28 | 北京镁伽机器人科技有限公司 | Printed circuit board, robot, motion control component, system and method |
| CN108983691A (en) * | 2017-06-05 | 2018-12-11 | 北京镁伽机器人科技有限公司 | Printed circuit board, robot, control parts of motion, system and method |
| CN107682469B (en) * | 2017-10-12 | 2021-05-14 | 深圳市雷赛控制技术有限公司 | Control method and device |
| CN107682469A (en) * | 2017-10-12 | 2018-02-09 | 深圳市雷赛控制技术有限公司 | A kind of method and apparatus of control |
| CN110568780A (en) * | 2018-06-05 | 2019-12-13 | 中国科学院宁波材料技术与工程研究所 | Master-slave cooperative motion control system |
| CN110580005A (en) * | 2019-09-26 | 2019-12-17 | 北京机电工程研究所 | Motion control system suitable for extreme application conditions |
| CN111327502A (en) * | 2020-03-03 | 2020-06-23 | 南京岸鸣智能科技有限公司 | Communication method based on pulse extension protocol |
| CN111571589A (en) * | 2020-05-18 | 2020-08-25 | 珠海格力电器股份有限公司 | Slave station control device, terminal control system and slave station control method |
| CN112637248B (en) * | 2021-03-09 | 2021-05-18 | 厚普清洁能源股份有限公司 | Ship-end and shore-end equipment communication processing method for LNG filling wharf boat |
| CN112637248A (en) * | 2021-03-09 | 2021-04-09 | 厚普清洁能源股份有限公司 | Ship-end and shore-end equipment communication processing method for LNG filling wharf boat |
| CN113741360A (en) * | 2021-08-09 | 2021-12-03 | 北京和利时控制技术有限公司 | Industrial control gateway, system, control method and storage medium |
| CN113741360B (en) * | 2021-08-09 | 2023-09-29 | 北京和利时控制技术有限公司 | Industrial control gateway, system, control method and storage medium |
| CN113671869A (en) * | 2021-08-12 | 2021-11-19 | 江苏杰瑞信息科技有限公司 | Intelligent industrial control method based on FPGA industrial control protocol |
| CN114500151A (en) * | 2022-01-19 | 2022-05-13 | 南京科远智慧科技集团股份有限公司 | Motion control communication system and communication method based on CAN bus |
| CN114500151B (en) * | 2022-01-19 | 2024-01-30 | 南京科远智慧科技集团股份有限公司 | Motion control communication system and communication method based on CAN bus |
| CN115523046A (en) * | 2022-10-21 | 2022-12-27 | 中船动力研究院有限公司 | Control method and system of multi-engine synchronous system |
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