CN103135445A - Reconfigurable servo device based on component technology - Google Patents
Reconfigurable servo device based on component technology Download PDFInfo
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- CN103135445A CN103135445A CN201110395084XA CN201110395084A CN103135445A CN 103135445 A CN103135445 A CN 103135445A CN 201110395084X A CN201110395084X A CN 201110395084XA CN 201110395084 A CN201110395084 A CN 201110395084A CN 103135445 A CN103135445 A CN 103135445A
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Abstract
The invention relates to the technology field of embedded software, in particular to a software component framework of a servo device. An upper computer controls a servo motor through a servo drive. The whole software framework is established by the servo drive through components, wherein the components are connected with each other in a data connecting mode and/ or in a control connecting mode. The servo drive is divided into an application layer, a control layer and a drive layer, wherein the application layer is interacted with the components on the control layer and capable of achieving configuration and monitoring under the operating state of servo, the control layer is used as a control core of the servo device and controls and monitors the operative condition of the servo motor, and the drive layer drives the servo device to interact with an external input and output device. The drive layer and the components on the control layer are assembled together to drive the servo motor to operate. Reusability is good, reconfiguration of a new system is easy and open performance of the system is good.
Description
Technical field
The present invention relates to embedded software technology field, relate in particular to the software assembly architecture of servomechanism installation.
Background technology
Traditional AC motor servo system causes the difference of control algolithm and system hardware and software structure very large due to the difference of controlling target and method.And the high coupling between traditional servo software and hardware and the irrationality of software architecture make the research and development of many new products have to start from scratch, and have have researched and developed function and can not get reusing, and have wasted a large amount of human and material resources.
In the performance history of common software, in the face of the dynamic change of demand, widely used method is to use component model, by developing new assembly or reusing existing functional module, dynamically or statically changes the connection of assembly, ressembles new system.
But need a large amount of basic-level supports during at present popular general purpose module model running, can't be applicable to embedded system.Existing embedded component model also due to the limitation of self, can not be applicable to high performance servomechanism installation fully.
Summary of the invention
For the prior art above shortcomings, the invention provides a kind of restructural development model of servomechanism installation, to solve the problem that is difficult to the new system of Fast Construction when software and hardware coupling in existing servomechanism installation performance history causes greatly problem that existing functional module is difficult to reuse and application demand change.
The technical scheme that the present invention adopts for achieving the above object is: the restructural servomechanism installation of component-based technology, host computer is controlled servomotor by servo-driver, described servo-driver is set up whole software architecture by assembly, and inter-module connects with data and/or the mode of control linkage is connected; Described servo-driver is divided into three levels:
Application layer comprises servo external command resolution component, alarming and managing and man-machine interface class component, with the key-course component interaction, completes configuration and the monitoring of servo operation state;
Key-course comprises the data configuration assembly in servomotor control algolithm assembly, technique class component and servomechanism installation, the control core in servomechanism installation, the operating condition of control and monitoring servomotor;
Drive layer, comprise servomotor control driven unit, fieldbus driven unit and servomechanism installation I O interface driver assembly, drive servomechanism installation and outside input-output unit mutual, with the key-course assembled together, jointly drive the running of servomotor.
Described assembly is according to the basic module model construction.
Described basic module model comprises interface interchange, input/output date flow, and the output of one of them assembly can be used as the input of other assemblies; Its component comprises:
The assembly base attribute comprises assembly name, assembly ID and component description;
Service interface, the functional interfaces that has realized in assembly offers other assembly or module and calls, and then corresponding service is provided;
Request interface, the functional interface that assembly need to be completed with the form of calling by the external interface that is provided by other assembly or module.
Described assembly can be combined into a new composite component by a plurality of assemblies; The attribute of described composite component is comprised of the attribute of sub-component, and the service interface of sub-component all or is selectively selected a part as the service interface of composite component, and all or part of request interface of sub-component has consisted of the request interface of composite component.
The form that described data connect with data sharing exists, can carry out dynamic-configuration by host computer, being specially the data of exporting after component internal is calculated is received by data block through writing shared data, supply the input reading out data of other assemblies and complete other calculating or operation, or reading in and carry out corresponding behavior act for other non-assembly modules.
Described control linkage be the selection connection of direct connection, inter-module of inter-module and assembly with non-assembly between be connected; The form of calling with functional interface exists, be specially interface between assembly mutually call and assembly and non-assembly module in mutually call between interface.
The present invention has following beneficial effect:
1 reusability is good.The functional module that designs in the servomechanism installation performance history has clear and definite input and output and service interface and request interface, so still can be reused in the R﹠D process of new product.
2 reconstruct new systems are simple.Have in mind during component model design in future, considered to splice and combine, can accomplish easily the replacement (assembling) of assembly when the new system of structure, and then construct new system.
3 systems open good.This design not only can solve demand instantly, and design has an eye on the future, and when in the future demand change or developer increase new function, need not demolition or rebuilds whole framework, only needs the design New Parent or change corresponding assembly to re-construct system and get final product.
Description of drawings
Fig. 1 is basic module model of the present invention;
Fig. 2 is the data stream sign figure of inter-module;
Fig. 3 is the control stream phenogram of inter-module;
Fig. 4 is the composite component schematic diagram;
Fig. 5 is the servomechanism installation software architecture diagram of one embodiment of the invention;
Fig. 6 is the servo driving hardware and software platform of one embodiment of the invention.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
A kind of software assembly architecture in servomechanism installation, set up whole framework according to abstract component model, connection between each assembly comprises that data connect and/or control linkage, in servomechanism installation, the whole framework of software is divided into and drives layer, key-course and three levels of application layer, and each layer is linked and packed by the corresponding function assembly and forms.
Component model has also comprised the input/output date flow that other component models do not have except comprising the interface interchange that generally adopts, the output of one of them assembly can be used as the input of other assemblies.
The connected mode of assembly is called two kinds of forms with data sharing and functional interface and is existed, and perhaps existence is wherein a kind of, and perhaps dual mode all exists, and wherein the mode of data connection can be carried out dynamic-configuration by upper computer software.
Driving class component in layered architecture refer to drive fieldbus in servomechanism installation or with the mutual component type of outside input-output unit, comprise servomotor control driven unit, fieldbus driven unit and servomechanism installation I O interface driver assembly, be assembled together with controlling class component, jointly drive the running of servomotor.
Control class component in layered architecture is the control core in servomechanism installation, comprise the data configuration assembly in servomotor control algolithm assembly, technique class component and servomechanism installation, configuration component and control algolithm assembled together can ACTIVE CONTROL and the operating condition of monitoring servomotor; Introduced the technique class component in servomechanism installation, controlled working technique.
Application class assembly in layered architecture comprises servo external command resolution component, alarming and managing and man-machine interface class component, and class component is mutual with controlling, and completes configuration and the monitoring of servo operation state.
As shown in Figure 1, the restructural servomechanism installation of component-based technology comprises
Core concept of the present invention has been to provide a kind of software architecture in the servomechanism installation, according to abstract component model, by the angle linkage function assembly that flows from data stream and control respectively, and then construct a kind of servo-drive system of opening, the connection configuration of inter-module may be static, may be also dynamic.
The invention provides the software assembly architecture in a kind of servomechanism installation, its a kind of embodiment such as Fig. 5, shown in Figure 6.
The component of the basic component model of basic module model comprises: the parts such as assembly base attribute, service interface, request interface, as shown in Figure 1.Wherein, base attribute may comprise the sign (as assembly name, assembly ID, component description etc.) of assembly, input and the output of assembly, introducing the input of assembly and the purpose of output is, by with the output of the assembly input as the assembly of current discussion, realize that the data stream between assembly connects; Service interface is the functional interfaces that has realized in finger assembly, and it offers other assembly or module is called, and then corresponding service is provided; Request interface is the function that finger assembly need to be completed by the form that external interface calls, and the interface of this external call need to be provided by other assembly or module.
There are two separate data stream in component model and control stream.Illustrate as described in (2), (3), (5).
The data sharing that the data stream of inter-module has characterized description of data stream between assembly, as shown in Figure 2, OUT represents to write shared data, and IN represents to read to share data.In assembly, input (IN) is shared data block Data with output (OUT), be that after component internal is calculated, the data of output are received by data block Data through OUT, supply the IN reading out data of other assemblies and complete other calculating or operation, or reading in and carry out corresponding behavior act for other non-assembly modules.
The control of inter-module stream characterization control stream description between assembly interface mutually call and assembly and non-assembly module in mutually call between interface, as shown in Figure 3, the performance of this control stream may comprise 3 kinds of situations: being connected between the direct connection of inter-module, the selection connection of inter-module and assembly and non-assembly.There is the direct call relation of interface between assembly C1 and C2, belongs to the direct connection of controlling in stream.And the annexation between assembly C3 and C1 or C2 is so unobvious, and the determining of concrete call relation completed by middleware M, the Dynamic Selection when this may occur in code cutting before operation or operation.Assembly is connected situation such as the interface service that is provided by outside non-assembly module invocation component C3 with non-inter-module.
Assembly Combination application demand occurs and more the time, if the basic module model can not satisfy application demand, may need the combination of a plurality of assemblies, and as shown in Figure 4, a plurality of sub-components are combined into a new composite component.The attribute of composite component is comprised of the attribute of sub-component, and the service interface of sub-component all or is selectively selected a part as the service interface of composite component, and all or part of request interface of sub-component has consisted of the request interface of composite component.
During the assembled assembled, the data stream from servomechanism installation and two angles of control stream, construct servo-drive system respectively.From the data stream angle, completed being connected of assembly with output by the input in assembly, as shown in Figure 2, the output of assembly C2 is as the input of assembly C1, with this coupling assembling C1 and C2, data stream in the device as clue more can clear and definite each assembly function, be convenient to extraction and the exploitation of assembly in the servo-drive system performance history; From controlling the angle of stream, completed the connection of assembly by the interface interchange relation, illustrate and see (3) for details.
Assembled can occur in the early stage that compiling connects, also may be by the connection of each assembly in host computer application deployment servomechanism installation.
Based on component model proposed above and servo fundamental characteristics, the below adopts the architecture introduction of layering how to construct reconfigurable servo body architecture on the software level, and minute 3 levels are respectively and drive layer, key-course and application layer.Its software architecture as shown in Figure 5.
Consider the 26S Proteasome Structure and Function of servo-drive system, extracted the assembly that can guarantee servo normal operation, Communication Interface Module (USB), PWM assembly, QEP assembly, Meter assembly, OSCI assembly and communication protocol component etc. are arranged respectively.Wherein front 3 assemblies belong to the driving layer, and latter two assembly belongs to key-course.For the ease of completing the co-ordination of inter-module, designed a communication protocol component in application layer, this assembly has also facilitated mutual between servo-drive system and host computer simultaneously.
Below specifically set forth the servo body architecture from driving layer, key-course and application layer 3 aspects respectively.
Drive layer
The hardware driving layer is in below real time operating system, as shown in Figure 6, with hardware isolate, abstract and the encapsulation, provide accordant interface to operating system and upper strata, this kind design will greatly reduce the degree of coupling of application software and hardware, therefore can support with unified software the hardware of plurality of specifications.
The efficient micro-kernel that real time operating system selects 32 bit DSPs to support.
Consider from servo structure and function, extract 3 assemblies: Communication Interface Module, PWM assembly, QEP assembly.
1. Communication Interface Module (USB): this assembly function is mainly the transmission that guarantees data between host computer or controller and servomechanism installation.The USB control chip adopts the PDIUSBD12 chip of Philips company, in Communication Interface Module, encapsulation drives based on the USB of DSP/BIOS, data read and write interface is provided for external module or non-assembly module, when the IO demand changes, as long as it is constant to guarantee to offer the interface that external module calls, just do not need the module of calling data read and write interface is done change, guaranteed the low Coupling Design of expansibility and the inter-module of system.
2.PWM assembly: the pulsed modulation that is used for motor is controlled.The peripheral circuit that the dsp chip TMS320F28335 of hardware using Texas Instrument provides.F28335 can export the PWM ripple of 6 tunnel symmetries, and the Dead Time of every pair of PWM ripple and polarity are programmable, is used for controlling three phase AC induction machine.Encapsulated the PWM driver in assembly.
3.QEP assembly: be used for corner and the velocity survey of motor.The peripheral circuit that the dsp chip TMS320F28335 of hardware using Texas Instrument provides coordinates with angle measurement elements such as incremental optical-electricity encoders, realizes the calculating of motor speed and position feedback.Encapsulated the QEP driver in assembly.
Key-course
This layer is mainly management and the realization of relevant Electric Machine Control.Analyze from architectural characteristic and functional characteristic, mark off 3 assemblies: Meter assembly, Oscilloscope assembly and control algolithm assembly.
1.Meter assembly: the assembly output variable that is used for the Real-Time Monitoring servomechanism installation.Have four data pins, can monitor simultaneously four output variables.The control parameter that during use, the Update Table pin connects makes the monitored variable of corresponding pointed, and monitored variate-value can be saved in corresponding built-in variable in real time, then is transferred to host computer or for other assemblies.
2.Oscilloscope assembly: be used for the assembly output variable of Real-Time Monitoring servomechanism installation, monitored value is stored in the data buffer, for debugging acid curve plotting figure.Have four data pins, can monitor simultaneously four object output variables.Revise pointer during use and connect the control parameter, make the monitored variable of corresponding pointed, monitored variate-value can be saved in corresponding internal buffer in real time.As shown in Figure 5, its connected mode is similar with the Meter assembly, is the Oscilloscope assembly with the Meter component replace, can draw corresponding condition curve image data for host computer, realizes oscillographic function.
3. control algolithm assembly: adopt the field orientation control method, the electromagnetic torque of permagnetic synchronous motor strictly is directly proportional to the stator current amplitude, in order to obtain suitable electromagnetic torque, needs the size of accurate control stator current amplitude.
Application layer
This layer has been realized a communication protocol component, also may comprise other application assemblies, and the main task of communication protocol component is to complete the parsing of external control order.Communication frame comprises the fields such as start byte, data length, order code, data content, check code, end byte, possesses self descriptiveness and extensibility preferably.The command frame that controller or host computer send and Frame adopt the consolidation form of agreement regulation to send.In Fig. 5, the connected mode of the connected mode of the assemblies such as warning, other man-machine interfaces and communication protocol component is also similarly, is in the same place with other assembled by the two kinds of connected modes of calling of data pin or service and request interface.
Hardware platform mainly comprises five modules such as power module, power driver module, control module, communication unit and cell encoder, as shown in Figure 6.Every kind of Development of Module goes out a plurality of specifications, and the user freely forms various application systems as required.
Power module is rectification or rectification/feedback unit, and three-phase alternating current is rectified into direct current, supplies with each power model (inverter), has the module of feedback function also direct current to be fed back to electrical network.Rectification and energy feedback function can be realized the sine of grid side electric current in switching process, work in unity power factor, and can realize the two-way flow of energy.The voltage type PWM Reversible Rectifiers adopts full control device, device is operated in the high frequency state, produce the PWM gating pulse with DSP high-speed, high arithmetic capability, because turning on and off of switching device is all controlled, so the current waveform of PWM rectifier is also controlled, its perfect condition is that AC-input voltage and electric current can keep same-phase or antiphase, i.e. be same-phase during rectification, is antiphase during inversion.This moment, net power scale factor was approximately 1, and the harmonic content of input current approaches zero, eliminates the harmonic pollution to electrical network.Due to PWM rectifier sampling VD, therefore can also adjust DC voltage, when load variations, have response speed faster, make VD be stabilized in certain setting value.This technology has overcome the shortcoming of traditional rectifier power source, also has current on line side for sinusoidal wave, and net side power factor is approximately 1, and dynamic response, be easy to modularization faster, the plurality of advantages such as electric energy transmitted in both directions.
Power driver module comprises the circuit such as DC-AC inverter, protection, data acquisition.The power device of apolegamy different capacity can form the drive unit of various power requirements.Driver module is inversion unit, and the dc inverter of 540V or 600V is become three-phase alternating current.For high-power PWM drive unit, select IGBT as the main power device of high-power PWM drive unit Converting Unit.Select specific driving circuit for the different capacity device, designed, designed is built holding circuit as the case may be, considers emphatically emc issue and thermal design.
Control module, adopt high-performance digital signal processor (the Digital SignalProcessor of 32 bit arithmetic functions, be called for short DSP), complete digital vector controlled and the closed loop servo of efficient real-time and control, extensive on-site programmable gate array FPGA is realized that exterior I/O signal management, universal command interface are processed, fault-signal is processed, is controlled the functions such as setting parameter, keyboard processing, state demonstration, serial communication, the processing of universaling coder interface.
Communication unit provides servo-drive system to arrive outside field-bus interface.Due to the present situation that present multiple fieldbus coexists, this platform field bus unit adopts standardized interface shape, by the exchange of Different field bus unit, realizes the multiple fieldbus interface of servo-drive system.
Cell encoder is realized Multi-encoding device interface, rotary increment type, support SSI bus (river of rubbing), support EDAT2.2 (Heidenhain), sine and cosine, the rotary transformer of comprising more; Orthoscopic comprise increment type, with distance codes, EDAT2.2, inductosyn etc.;
Servo-driver software and hardware one-piece construction has been introduced technical module storehouse and real-time data base as shown in Figure 6 in the key-course of software platform.
The technical module storehouse, the store and management of various technical modules in completion system.In product servo, the user can select the functions such as electronic gear, the setup control angle, electric cam in product servo as required, thereby has saved the cost of controller.Utilize the combination of software module to realize different functions, greatly strengthened the versatility of product.Adopting component technology that the technical module storehouse is designed, to improve its general ability, facilitate upgrading, the debugging and maintenance of software, is the important development direction of servo Software for Design.
Real-time data base, the storage of completion system real time data, renewal and management.The data meeting real-time update that peripheral hardware gathers is in real-time data base, and the needed real time data of other module all derives from real-time data base.
In Fig. 6, motion control arithmetic storehouse, the store and management of various control algolithms in completion system.Automatically identify controlled device when system powers on, then automatic or manual is selected best control algolithm, makes to control to reach best effect.
Claims (6)
1. the restructural servomechanism installation of a component-based technology, host computer is controlled servomotor by servo-driver, it is characterized in that, described servo-driver is set up whole software architecture by assembly, and inter-module connects with data and/or the mode of control linkage is connected; Described servo-driver is divided into three levels:
Application layer comprises servo external command resolution component, alarming and managing and man-machine interface class component, with the key-course component interaction, completes configuration and the monitoring of servo operation state;
Key-course comprises the data configuration assembly in servomotor control algolithm assembly, technique class component and servomechanism installation, the control core in servomechanism installation, the operating condition of control and monitoring servomotor;
Drive layer, comprise servomotor control driven unit, fieldbus driven unit and servomechanism installation I O interface driver assembly, drive servomechanism installation and outside input-output unit mutual, with the key-course assembled together, jointly drive the running of servomotor.
2. the restructural servomechanism installation of component-based technology according to claim 1, is characterized in that, described assembly is according to the basic module model construction.
3. the restructural servomechanism installation of component-based technology according to claim 2, is characterized in that, described basic module model comprises interface interchange, input/output date flow, and the output of one of them assembly can be used as the input of other assemblies; Its component comprises:
The assembly base attribute comprises assembly name, assembly ID and component description;
Service interface, the functional interfaces that has realized in assembly offers other assembly or module and calls, and then corresponding service is provided;
Request interface, the functional interface that assembly need to be completed with the form of calling by the external interface that is provided by other assembly or module.
4. the restructural servomechanism installation of component-based technology according to claim 1, is characterized in that, described assembly can be combined into a new composite component by a plurality of assemblies; The attribute of described composite component is comprised of the attribute of sub-component, and the service interface of sub-component all or is selectively selected a part as the service interface of composite component, and all or part of request interface of sub-component has consisted of the request interface of composite component.
5. the restructural servomechanism installation of component-based technology according to claim 1, it is characterized in that, the form that described data connect with data sharing exists, can carry out dynamic-configuration by host computer, being specially the data of exporting after component internal is calculated is received by data block through writing shared data, supply the input reading out data of other assemblies and complete other calculating or operation, or reading in and carry out corresponding behavior act for other non-assembly modules.
6. the restructural servomechanism installation of component-based technology according to claim 1, is characterized in that, described control linkage be the selection connection of direct connection, inter-module of inter-module and assembly with non-assembly between be connected; The form of calling with functional interface exists, be specially interface between assembly mutually call and assembly and non-assembly module in mutually call between interface.
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