CN114690663A - Simulation control platform based on model development and material loading handover test method - Google Patents
Simulation control platform based on model development and material loading handover test method Download PDFInfo
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Abstract
The invention provides a simulation control platform based on model development and a loading handover test method, wherein the simulation control platform based on the model development comprises an upper computer module, a process logic conversion module, a lower computer module and a virtual object module which are sequentially in communication connection, wherein the upper computer module is used for communicating with the lower computer module, the lower computer module is used for generating motion firmware which can be executed by the virtual object module, the virtual object module is used for modeling and designing a target control object, and the process logic conversion module is used for performing logic conversion on a process in the lower computer module so as to unify time sequences in the lower computer module and the upper computer module. The invention realizes the system modeling of the control object by linearly modeling the nonlinear hardware so as to complete the system level test and simulation and improve the development efficiency.
Description
Technical Field
The invention relates to the technical field of electromechanical system equipment, in particular to a simulation control platform based on model development and a material loading handover test method.
Background
With the continuous development of manufacturing industry, precision control is particularly important in the semiconductor industry or the medical instrument industry, and for the development of a set of precision instruments and equipment, multiple specialties of optics, mechanics, electronics, electricity, control and software need to be jointly coordinated and uniformly developed, and the process comprises demand identification, design, feeding, testing, optimal design and online.
In the traditional model-based development, only a core algorithm or functional logic is designed and developed, then codes are generated and integrated into manual codes, executable files are generated and burned into a control board card for debugging. In the field of automobiles, for various vehicle-mounted subsystems, such as an automatic power steering system, a lane departure early warning system and the like, a combined simulation test is performed by using mature model-based development and using mature commercial software (such as Carsim and Trucksim) as an automobile model during model-in-loop test. However, in the conventional high-precision instrument and equipment industries, such as semiconductor equipment and medical equipment, mature commercial software is not used for simulating a control object temporarily, model-based development is simple and shallow in use and does not form a development tool chain, the use of matlab/simulink is limited to simulation and analysis of a control algorithm and data analysis by using a tool kit, and the advantages of the model-based development, such as improvement of development efficiency, reduction of development time and labor cost, reduction of coding work and the like, are not reflected.
Therefore, there is a need to provide a new simulation control platform based on model development and a material loading handover test method to solve the above-mentioned problems in the prior art.
Disclosure of Invention
The invention aims to provide a simulation control platform based on model development and a material loading handover test method, which realize system modeling of a control object by linearly modeling nonlinear hardware so as to complete system level test and simulation and improve development efficiency.
In order to achieve the above object, the simulation control platform based on model development of the present invention includes an upper computer module, a process logic conversion module, a lower computer module and a virtual object module, which are sequentially connected in a communication manner, wherein the upper computer module is used for communicating with the lower computer module, the lower computer module is used for generating a motion firmware executable by the virtual object module, the virtual object module is used for performing modeling design on a target control object, and the process logic conversion module is used for performing logic conversion on a process in the lower computer module so as to unify time sequences in the lower computer module and the upper computer module.
The simulation control platform based on model development has the advantages that: the simulation control platform is formed by the upper computer module, the process logic conversion module, the lower computer module and the virtual object module, the nonlinear hardware is linearly modeled, the system modeling of a control object is realized, and the system level test and simulation are completed by the simulation control platform, so that the coding work is reduced, the technical complexity is reduced, the work gravity center of developers is emphasized on the function and performance, the product competitiveness is further improved, and the whole software can be separated from the physical operation, so that the software and the hardware are decoupled, and the maintainability and the inheritability are improved.
Optionally, the process logic conversion module includes at least one of a blocking state switching unit, a period interruption unit, a process switching unit and a priority switching unit, where the blocking state switching unit is configured to switch a blocking state process in the lower computer module to a non-blocking state process, and the period interruption unit is configured to convert a multi-period interrupted task in the lower computer module into a task polled according to a time slice; the process switching unit is used for switching part of multi-process diagnosis tasks in the lower computer module into single-process diagnosis tasks; the priority switching unit is used for adjusting the priority and task scheduling condition of part of processes in the lower computer module.
Optionally, the blocking state switching unit includes at least one of an overtime conversion subunit and an asynchronous switching subunit, where the overtime switching subunit is configured to set an overtime for a blocking state process in the lower computer module, and switch from a current process to execute another process after waiting for the overtime and receiving no valid data; the asynchronous switching subunit is used for switching a synchronous command processing mechanism in the communication process into an asynchronous command processing mechanism so as to realize parallel processing of a plurality of commands.
Optionally, the motion firmware generated in the lower computer module includes a hardware diagnostic process, the hardware diagnostic process includes a queue processing task, a communication task, a control algorithm, a diagnostic task, and a command processing task, and the period interrupt unit is configured to execute the queue processing task, the communication task, the control algorithm, the diagnostic task, and the command processing task according to a polling mechanism.
Optionally, the periodic interruption unit expands the queue processing task to buffer, and sets a timeout logic for the communication task.
Optionally, the diagnosis tasks include a chip-level diagnosis subtask, a board-level diagnosis subtask, a component-level diagnosis subtask, and a system-level diagnosis subtask, and the process switching unit executes the chip-level diagnosis subtask, the board-level diagnosis subtask, the component-level diagnosis subtask, and the system-level diagnosis subtask in a same cycle period to locate a fault location and a fault time.
Optionally, the priority switching unit switches, in the lower computer module, tasks with different priorities in a part of processes to a uniform priority, and switches preemptive task scheduling to non-preemptive task scheduling.
The invention also discloses a material loading handover test method, which adopts the simulation control platform developed based on the model to carry out the test and comprises the following steps:
sending a transfer command data to the lower computer module through the upper computer module so that the lower computer module controls the virtual object module to move to a transfer position and feeds back first environment data to the lower computer module;
informing the upper computer module after the lower computer module has the material at the joint position through the first environment data;
the lower computer module sends material motion command data to simulate the movement of a material to be transported and fix the material at a preset position;
and the upper computer module sends processing command data to the lower computer module so that the lower computer module controls the virtual object module to move to a processing position to complete a feeding test process.
The feeding handover test method has the beneficial effects that: the loading connection test method is executed through the simulation control platform based on model development, the whole test process can be completed only by matching the upper computer module and the lower computer module in the whole test process, the loading test process can be completed without physical operation, the test efficiency is improved, the test cost is obviously reduced, and the method can be suitable for various scenes.
Optionally, sending, by the upper computer module, a handover command data to the lower computer module, so that the lower computer module controls the virtual object module to move to a handover position, includes:
the upper computer module sends the handover command data to the lower computer module, wherein the handover command data comprises handover position coordinate data;
the lower computer module runs a firmware control algorithm according to the coordinate data of the handover position in the handover command data to obtain first force data, and obtains displacement data and first sensor data before the firmware control algorithm runs;
and the lower computer module sends the first force data, the displacement data and the first sensor data to the virtual object module, and a control object model algorithm in the virtual object module is operated through the first force data so as to move the virtual object module to a joint position.
Optionally, the feedback of the first environmental data to the lower computer module includes:
and in the process of operating the control object model algorithm, acquiring the displacement data and the first sensor data, and sending the displacement data and the first sensor data to the lower computer module.
Optionally, the lower computer module sends material motion command data to the material that the simulation is waited to transport removes and fixes in the preset position, includes:
and the lower computer module sends zone bit information to the virtual object module so as to simulate the material to move to the preset position, wherein the zone bit information comprises a mobile material zone bit and a fixed material zone bit.
Optionally, the upper computer module sends processing command data to the lower computer module, so that the lower computer module controls the virtual object module to move to a processing position, including:
the upper computer module sends the processing command data to the lower computer module, second force data is obtained after the lower computer module runs the processing command data, the second force data is sent to the virtual object module, the control object model algorithm is run through the second force data, and the virtual object module is moved to the processing position.
Drawings
FIG. 1 is a block diagram of a simulation control platform based on model development according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a process of synchronous command-based processing in the prior art;
FIG. 3 is a schematic diagram of a process of asynchronous command processing based on a simulation control platform developed based on a model according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a hardware diagnostic process according to the prior art;
FIG. 5 is a schematic diagram of a process of a simulation control platform for hardware diagnosis process based on model development according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a prior art process for diagnosing tasks;
FIG. 7 is a schematic diagram of a process of a simulation control platform for model development to diagnose tasks according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a process of processing tasks with different priorities in the prior art;
FIG. 9 is a schematic diagram of a process of processing a unified priority task by the simulation control platform based on model development according to the embodiment of the present invention;
FIG. 10 is a schematic diagram of a design process of a simulation control platform based on model development according to an embodiment of the present invention;
fig. 11 is a flowchart of a material loading handover testing method according to an embodiment of the present invention;
fig. 12 is a schematic process diagram of a material loading handover testing method according to an embodiment of the present invention;
fig. 13 is a block diagram of a process logic conversion module of the simulation control platform based on model development according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.
In order to solve the problems in the prior art, an embodiment of the present invention provides a simulation control platform based on model development, and with reference to fig. 1, the simulation control platform includes an upper computer module 10, a process logic conversion module 20, a lower computer module 30, and a virtual object module 40, which are sequentially connected in a communication manner, where the upper computer module 10 is configured to communicate with the lower computer module 30, the lower computer module 30 is configured to generate motion firmware executable by the virtual object module 40, the virtual object module 40 is configured to perform modeling design on a target control object, and the process logic conversion module 20 is configured to perform logic conversion on a process in the lower computer module 30, so as to unify time sequences in the lower computer module 30 and the upper computer module 10.
In this embodiment, the simulation control platform forms a platform capable of operating independently through the upper computer module 10, the process logic conversion module 20, the lower computer module 30 and the virtual object module 40, the virtual object module 40 performs modeling design on a target control object to obtain a virtual model corresponding to the target control object, the upper computer module 10 communicates with the lower computer module 30 to send a control instruction to control the lower computer module 30, and the lower computer module 30 is mainly used to generate motion firmware for the virtual object module 40 to execute, so as to control the motion of the virtual object module 40 through the lower computer module 30, thereby facilitating the control of the virtual model generated by the virtual object module 40.
In some embodiments, the simulation control platform runs on a windows platform of a computer, and the upper computer module 10 is software developed based on a programming language, which is called upper computer software or upper computer engineering (host.sln); the lower computer module 30 is used for generating codes by modeling software according to the motion control condition and forming independently operable engineering firmware based on a centralized development environment; the virtual object module 40 is also engineering firmware which is formed by modeling software according to target control object modeling generation codes; the engineering firmware is a file which can be independently operated and executed, so that the simulation process is conveniently completed.
Specifically, in this embodiment, the upper computer module 10 is upper computer software developed based on a programming language C # or python, and includes an interface, various types of drivers, and module components with different functions, the lower computer module 30 and the virtual object module 40 are engineering firmware obtained based on simulink modeling of modeling software, and the centralized development environment of the lower computer module 30 and the virtual object module 40 is VS 2019.
In other embodiments, the lower computer module 30 and the upper computer module 10 operate on a windows platform of the same computer, so that in the operation process of the whole simulation control platform, the upper computer module 10 can control the lower computer module 30 without a separate driving software layer to realize a full-scene test process, thereby effectively reducing the labor cost and the time cost of the test.
In still other embodiments, the lower computer module 30 is a motion control firmware in the semiconductor device, in this embodiment, the motion control firmware is modeled and designed by a modeling software simulink to obtain a firmware model firewire.mdl, a code source file firewire.c of the firmware model is generated by a modeling software encoder simulink coder, and then the code source file firewire.sln is imported into the integrated development environment VS2019 to obtain a VS engineering firewire.sln.
The virtual object module 40 is a plant.mdl file obtained through modeling design of modeling software simulink, and generally comprises a scheduling module, an algorithm module, a diagnosis module, a communication module and a queue module, a code source file plant.c of a firmware model is generated through a modeling software encoder simulink coder, and then the code source file plant.c is imported into an integrated development environment VS2019 to obtain a VS engineering plant.sln, so that the lower computer module 30 and the virtual object module 40 can correspond to each other on different platforms one to one.
Since there are many processes in the firmware.sln file obtained by modeling in the integrated development environment VS2019 by the lower computer module 30, if the process management is performed directly by using a PC, since the computer is time slice polled, the user cannot predict the running state of each process, it cannot be guaranteed that the upper computer module 10 and the lower computer module 30 communicate in order, and the processes in the lower computer module 30 are logically converted by the process logic conversion module 20, so that the time sequences in the lower computer module 30 and the upper computer module 10 are unified, thereby facilitating the implementation of the ordered communication.
In some embodiments, the process logic conversion module 20 includes at least one of a block state switching unit 201, a period interruption unit 202, a process switching unit 203, and a priority switching unit 204, where the block state switching unit 201 is configured to switch a block state process in the lower computer module 30 to a non-block state process, and the period interruption unit 202 is configured to convert a multi-period interrupted task in the lower computer module 30 into a task polled according to a time slice; the process switching unit 203 is configured to switch a part of multi-process diagnostic tasks in the lower computer module 30 into single-process diagnostic tasks; the priority switching unit 204 is configured to adjust the priority and task scheduling condition of a part of processes in the lower computer module 30.
In this embodiment, referring to fig. 13, the procedural logic conversion module 20 includes a blocking state switching unit 201, a period interruption unit 202, a procedure switching unit 203, and a priority switching unit 204, so that the procedural logic conversion module 20 can perform blocking state switching, period termination, procedure switching, and priority switching on the lower computer module 30, thereby unifying communication time sequences between the lower computer module 30 and the upper computer module 10 in each state.
In some embodiments, the blocking state switching unit 201 includes at least one of a timeout transition subunit 2011 and an asynchronous switching subunit 2012, where the timeout transition subunit 2011 is configured to set a timeout time for a blocking state process in the lower computer module 30, and switch from a current process to execute another process after waiting for the timeout time and not receiving valid data; the asynchronous switching subunit 2012 is configured to switch the synchronous command processing mechanism in the communication process to an asynchronous command processing mechanism, so as to implement parallel processing of multiple commands.
Specifically, since the plurality of processes in the lower computer module 30 include the communication module and the queue module, and the communication module and the queue module generally include the blocking state process, the communication module and the queue module are in a state of receiving data for a long time, so that the occupation time in the lower computer module 30 is long, and the waiting time is long. And the overtime switching subunit 2011 performs overtime switching, sets an overtime time t for the blocked state process in the lower computer module 30, and in the execution process of the blocked state process, when the overtime time t is reached, the blocked state process still does not receive valid data, switches to execute other tasks, so that the blocked state process is switched to execute a non-blocked state process, the execution efficiency of the process is improved, and the waiting for too long time is avoided.
On the other hand, in the communication process between the upper computer module 10 and the lower computer module 30, referring to fig. 2, a synchronous command processing mechanism is usually adopted, that is, after the upper computer module 10 sends a command, the lower computer module 30 sequentially performs processes of command receiving, command executing and response sending, and completes the process after the upper computer module 10 receives a response, but this way requires that the whole synchronous command processing is completed before performing other processes, prolongs the processing time of the processes to a certain extent, and cannot achieve time sequence control. In this embodiment, referring to fig. 3, the asynchronous switching subunit 2012 switches the synchronous command processing to asynchronous command processing, and based on an asynchronous command processing mechanism, the upper computer module 10 may process other processes after receiving a "receive return" signal of a "command accept" process in the lower computer module 30, and may perform other processes without waiting for completion of "command accept", "command execution" and "response send" on the lower computer module 30 and receiving a "response accept" signal, so that parallel processing of multiple command accept and command execution may be implemented, thereby reducing the process time.
Specifically, after the upper computer module 10 sends the command to the lower computer module 30, the lower computer module 30 sends the receiving return instruction to the upper computer module 10 after receiving the command, the upper computer module 10 can execute other processes after receiving the receiving return instruction, the command execution process is executed in the lower computer module 30, if the upper computer module 10 wants to obtain the response result, the lower computer module 30 sends the response result after receiving the response sent instruction, and the upper computer module 10 obtains the response result, so that the parallel processing process of receiving a plurality of commands and executing the commands is realized, and the execution time of the processes is effectively reduced.
In some embodiments, the motion firmware generated in the lower computer module 30 includes a hardware diagnostic process, the hardware diagnostic process includes a queue processing task, a communication task, a control algorithm, a diagnostic task, and a command processing task, and the cycle interrupt unit 2012 is configured to execute the queue processing task, the communication task, the control algorithm, the diagnostic task, and the command processing task according to a polling mechanism.
Specifically, referring to fig. 4, for the hardware diagnosis process in the lower computer module 30, the conventional operation time sequence is a multi-cycle interrupt task, the control algorithm is completed first within time Ts, and the queue processing task, the communication task, and the diagnosis task are completed sequentially in the rest of time, but since the operation environment on the computer is a time-sharing processing system, processing according to the time sequence cannot be guaranteed. Therefore, the hardware diagnostic process is processed by the periodic interrupt unit 2012, and referring to fig. 5, the hardware diagnostic process is changed from the original execution timing to polling.
In further embodiments, the periodic interrupt unit 2012 buffers the queued processing tasks and sets timeout logic for the communication tasks. Therefore, the performance of the queue and the communication is expanded, and the queue processing task and the communication task are not blocked when the hardware diagnosis process is executed.
In still other embodiments, the diagnostic tasks include a chip-level diagnostic subtask, a board-level diagnostic subtask, a component-level diagnostic subtask, and a system-level diagnostic subtask, and the process switching unit 2013 executes the chip-level diagnostic subtask, the board-level diagnostic subtask, the component-level diagnostic subtask, and the system-level diagnostic subtask during a same cycle period to locate a fault location and a fault time.
Specifically, referring to fig. 6, conventionally, a chip-level diagnosis subtask, a board-level diagnosis subtask, a component-level diagnosis subtask, and a system-level diagnosis subtask are respectively interrupted in different periods, for example, the chip-level diagnosis subtask is interrupted at 20us, the board-level diagnosis subtask is interrupted at 200us, the component-level diagnosis subtask is interrupted at 500us, and the system diagnosis subtask is interrupted at 1ms, but since priority and timing mechanisms cannot be effectively operated at the same time in a computer, this method cannot guarantee that the diagnosis subtasks are executed according to multi-period time and sequence, and thus the efficiency of fault diagnosis is affected. In the present solution, referring to fig. 7, the chip-level diagnosis subtask, the board-level diagnosis subtask, the component-level diagnosis subtask, and the system-level diagnosis subtask are cyclically run in a diagnosis period, so as to ensure that each diagnosis function is controllably completed in a computer time stream, locate a corresponding fault position and time, complete a fault diagnosis process, and improve diagnosis efficiency.
In some embodiments, the priority switching unit 204 switches some of the tasks with different priorities in the process in the lower computer module 30 to a uniform priority, and switches the preemptive task scheduling to the non-preemptive task scheduling.
Specifically, referring to fig. 8, taking five execution tasks as an example, the priorities of the task one, the task two, and the task three are sequentially increased, when the suspension state of the task one is restored to the ready state, the execution of the task one is preempted by the task two under the action of the preemptive scheduler, and the implementation of the task preemption logic on the computer is complicated, and when there is a shared resource, it is difficult to implement the common use of multiple tasks. Therefore, in the scheme, the priority switching unit 2014 switches the tasks of different priorities in part of the processes to be uniform priorities and switches the preemptive task scheduling to the non-preemptive task scheduling, so that the workload of task allocation and time sequence design can be effectively reduced. Referring to fig. 9, four tasks with the same priority, i.e., task one, task two, task three, and task four, are designed, and the time allocated by each task is fixed and is a multiple of the system clock, e.g., 5 times. The operation process is as follows: the method comprises the steps that a first task runs firstly, after the running reaches 5 clock cycles, a second task is switched through time slice scheduling, after the second task runs for 5 system clock cycles, the second task is switched to a third task through time slice scheduling, a blocking API function is called by the third task during the running, after the function is called, the third task can be switched to a fourth task through time slice scheduling, even if 5 system time beats of the third task are not used up at the moment, and after the fourth task runs for 5 system clock beats, the fourth task is switched to the first task through time slice scheduling. Under the time slice polling, the workload of task allocation and task time sequence design can be reduced, and the platform construction time is greatly reduced.
In other embodiments, the design process of the lower computer module 30 and the virtual object module 40 in the simulation control platform is as follows for different devices:
firstly, inputting characteristic information of a target control object and characteristic information of motion firmware in simulation software Simulink, wherein the characteristic information of the target control object comprises mechanical characteristic information, electrical characteristic information, motion characteristic information and application scene characteristic information, the characteristic information of the motion firmware comprises function requirement information and performance requirement information, the simulation software Simulink models the target control object and the motion firmware, and after modeling is completed, integrating the target control object and the motion firmware based on the simulation software Simulink to perform simulation test so as to further optimize the model and obtain project files plant.mdl and firmware.mdl corresponding to the virtual object module 40 and the lower computer module 30 respectively.
Because the obtained optimization model is an engineering file in mdl format, plant.mdl and firmware.mdl are synchronously generated into a C language code, and the sln engineering file is formed based on an integrated development environment VS2019, namely plant.sln and firmware.sln, and can be subjected to combined test in the integrated development environment to verify the accuracy of the finally obtained model. Specifically, the test process is a software in-loop test.
It should be noted that, in the design process of the motion firmware and the target control object, the design of the upper computer module is synchronously completed to obtain a host.sln of a forehead engineering file corresponding to the upper computer, then the host.sln and the firmware.sln can be jointly tested to complete the full scene test of the upper computer module, and finally the final upper computer module 10 can be obtained after the test is verified with hardware to complete the design process of the model.
In some embodiments, referring to fig. 10, a firmware design process is performed first, and after inputting the property information of the target control object and the property information of the motion firmware in the simulation software Simulink, modeling and generating codes are performed respectively and engineering files plant.mdl and firmware.mdl are obtained; and then, respectively carrying out firmware function test, performance test and interface test on the project files plant.mdl and firmware.mdl, optimizing the firmware.mdl and then testing the firmware again if the motion firmware is tested, and ending the firmware design flow after the test is finished.
And then entering an upper computer design flow, developing and finishing a corresponding upper computer model after inputting the requirement of the upper computer, carrying out test optimization to obtain an optimized upper computer model, carrying out full-scene test after the upper computer model is debugged, continuously judging whether the debugging is finished or not after the full-scene test process is finished, and finishing the design flow after the upper computer model is finally debugged to obtain a final upper computer model. When the debugging is finished or not is judged each time, if the debugging is not finished, the process of testing and optimizing the upper computer model is continuously executed, and details are not repeated here.
It should be noted that the simulation control platform of the present invention is applicable to the traditional manufacturing industry, including various devices such as medical instruments and semiconductor devices, which need high precision control, based on the simulation control platform, the software development process can be not limited by hardware, through the precise analysis and complete modeling of the control object, the upper computer can complete the whole process test in windows environment, and when the whole machine is loaded, the upper computer only needs to debug the performance of the device, the workload related to the hardware is greatly reduced, and the development time is greatly shortened, and the development efficiency is improved.
The invention also provides a material loading handover test method, referring to fig. 11, the simulation control platform developed based on the model is adopted for testing, and the material loading handover test method comprises the following steps:
s1101, sending delivery command data to the lower computer module through the upper computer module, so that the lower computer module controls the virtual object module to move to a delivery position, and feeding back first environment data to the lower computer module.
In some embodiments, the sending, by the upper computer module, the handover command data to the lower computer module to cause the lower computer module to control the virtual object module to move to the handover position includes:
the upper computer module sends the handover command data to the lower computer module, wherein the handover command data comprise handover position coordinate data;
the lower computer module runs a firmware control algorithm according to the coordinate data of the handover position in the handover command data to obtain first force data, and obtains displacement data and first sensor data before the firmware control algorithm runs;
and the lower computer module sends the first force data, the displacement data and the first sensor data to the virtual object module, and a control object model algorithm in the virtual object module is operated through the first force data so as to move the virtual object module to a joint position.
Specifically, referring to fig. 12, at the start stage of loading, the upper computer module sends coordinate data including a handover position to the lower computer module through the ethernet so as to control the XY axis in the loading device to move to the handover position, where the handover position coordinate data is marked as (x)exchange,yexchange)。
Then after the lower computer module receives the coordinate data of the cross-over position in the cross-over command data, the lower computer module circularly runs the firmware control algorithm according to the coordinate data of the cross-over position to obtain first force data, and sends the first force data to the virtual object module through the Ethernet after each cycle is finished, meanwhile, the lower computer module respectively obtains displacement data and first sensor data when circularly running the firmware control algorithm each time, wherein the displacement data is the displacement data of the XY axis moving to the cross-over position, and the first sensor data comprises the sensor data Flag of the cross-over positionEX。
And then the lower computer module sends the first force data, the displacement data and the first sensor data to the virtual object module, and runs a control object model algorithm in the virtual object module according to the first force data, so that the virtual object module simulates to move to a joint position, and a preliminary motion simulation process is conveniently completed.
In still other embodiments, the feeding back the first environment data to the lower computer module includes:
and in the process of operating the control object model algorithm, acquiring the displacement data and the first sensor data, and sending the displacement data and the first sensor data to the lower computer module.
Specifically, after the control object model algorithm is operated circularly every time, the displacement data and the first sensor data are sent to the lower computer module, so that whether materials exist in the handover position or not can be judged conveniently in the follow-up process.
And S1102, informing the upper computer module after the lower computer module passes through the first environment data and the materials exist at the cross-connecting position.
Specifically, after the lower computer module receives the first environmental data, the pressure data of the vacuum sensor in the first environmental data is acquired to judge whether materials exist in the handover position, and after the materials are determined to exist, notification information is sent to the upper computer module so that the upper computer module can simulate the feeding process.
And S1103, the lower computer module sends material motion command data to simulate the movement of the material to be transported and fix the material at a preset position.
In some embodiments, the process includes:
and the lower computer module sends zone bit information to the virtual object module so as to simulate the material to move to the preset position, wherein the zone bit information comprises a mobile material zone bit and a fixed material zone bit.
Specifically, the lower computer module respectively sends a mobile material zone bit and a fixed material zone bit to the virtual object module, so that the process that the material moves to a preset position is simulated. Wherein, remove material marker bit and correspond and show that manipulator carries the material to corresponding position in equipment, and fixed material marker bit then shows that simulation vacuum solenoid valve opens to the vacuum to the simulation material is fixed at corresponding position.
In some embodiments, the process of simulating the movement of the material to the corresponding position and the fixing at the corresponding position is set to 1 to 10 seconds.
And S1104, the upper computer module sends processing command data to the lower computer module so that the lower computer module controls the virtual object module to move to a processing position to complete the feeding test process.
In some embodiments, the above process comprises:
the upper computer module sends the processing command data to the lower computer module, second force data is obtained after the lower computer module runs the processing command data, the second force data is sent to the virtual object module, the control object model algorithm is run through the second force data, and the virtual object module is moved to the processing position.
After the materials are moved and fixed at the corresponding positions, the upper computer module sends processing command data to the lower computer module, the lower computer module runs a firmware model algorithm according to the processing command data to obtain second force data, the second force data is sent to the virtual object module, the virtual object module runs a control object model algorithm according to the second force data, the virtual object module is moved to the processing positions on the platform, and the whole feeding test process is completed.
Wherein the processing command data includes processing position coordinate data
So that the virtual object module simulates movement to that position.
In the feeding handover test method, the established simulation control platform is used for carrying out the feeding handover test, the whole process of the whole feeding handover process can be tested only in the windows environment of the computer, the physical test is not needed, the workload related to hardware is greatly reduced, the test time is effectively reduced, and the development efficiency is improved.
Although the embodiments of the present invention have been described in detail hereinabove, it is apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention as described herein is capable of other embodiments and of being practiced or of being carried out in various ways.
Claims (12)
1. The simulation control platform is characterized by comprising an upper computer module, a process logic conversion module, a lower computer module and a virtual object module which are sequentially in communication connection, wherein the upper computer module is used for communicating with the lower computer module, the lower computer module is used for generating motion firmware for the virtual object module to execute, the virtual object module is used for modeling and designing a target control object, and the process logic conversion module is used for performing logic conversion on a process in the lower computer module so as to unify time sequences in the lower computer module and the upper computer module.
2. The simulation control platform based on model development according to claim 1, wherein the process logic conversion module comprises at least one of a block state switching unit, a period interruption unit, a process switching unit and a priority switching unit, the block state switching unit is used for switching a block state process in the lower computer module into a non-block state process, and the period interruption unit is used for converting a multi-period interrupted task in the lower computer module into a task polled according to a time slice; the process switching unit is used for switching part of multi-process diagnosis tasks in the lower computer module into single-process diagnosis tasks; the priority switching unit is used for adjusting the priority and task scheduling condition of part of processes in the lower computer module.
3. The model development-based simulation control platform according to claim 2, wherein the blocking state switching unit includes at least one of a timeout switching subunit and an asynchronous switching subunit, and the timeout switching subunit is configured to set a timeout time for a blocking state process in the lower computer module, and switch from a current process to execute another process after waiting for the timeout time and not receiving valid data; the asynchronous switching subunit is used for switching a synchronous command processing mechanism in the communication process into an asynchronous command processing mechanism so as to realize parallel processing of a plurality of commands.
4. The model development-based simulation control platform according to claim 2, wherein the motion firmware generated in the lower computer module comprises a hardware diagnostic process, the hardware diagnostic process comprises a queue processing task, a communication task, a control algorithm, a diagnostic task and a command processing task, and the cycle interrupt unit is configured to execute the queue processing task, the communication task, the control algorithm, the diagnostic task and the command processing task according to a polling mechanism.
5. The model development-based simulation control platform according to claim 4, wherein the periodic interruption unit buffers the queue processing task and sets timeout logic for the communication task.
6. The model development based simulation control platform of claim 4, wherein the diagnostic tasks comprise a chip-level diagnostic subtask, a board-level diagnostic subtask, a component-level diagnostic subtask, and a system-level diagnostic subtask, and the process switching unit executes the chip-level diagnostic subtask, the board-level diagnostic subtask, the component-level diagnostic subtask, and the system-level diagnostic subtask in a same cycle period to locate a fault location and a fault time.
7. The simulation control platform based on model development according to claim 2, wherein the priority switching unit switches tasks with different priorities in a part of processes in the lower computer module to a uniform priority, and switches preemptive task scheduling to non-preemptive task scheduling.
8. A material loading handover test method, which is characterized in that the simulation control platform based on model development according to any one of the claims 1 to 7 is used for testing, and the material loading handover test method comprises the following steps:
sending a transfer command data to the lower computer module through the upper computer module so that the lower computer module controls the virtual object module to move to a transfer position and feeds back first environment data to the lower computer module;
informing the upper computer module after the lower computer module has the material at the joint position through the first environment data;
the lower computer module sends material motion command data to simulate the movement of a material to be transported and fix the material at a preset position;
and the upper computer module sends processing command data to the lower computer module so that the lower computer module controls the virtual object module to move to a processing position to complete a feeding test process.
9. The material loading handover test method according to claim 8, wherein the sending, by the upper computer module, handover command data to the lower computer module so that the lower computer module controls the virtual object module to move to the handover position comprises:
the upper computer module sends the handover command data to the lower computer module, wherein the handover command data comprises handover position coordinate data;
the lower computer module runs a firmware control algorithm according to the coordinate data of the handover position in the handover command data to obtain first force data, and obtains displacement data and first sensor data before the firmware control algorithm runs;
and the lower computer module sends the first force data, the displacement data and the first sensor data to the virtual object module, and a control object model algorithm in the virtual object module is operated through the first force data so as to move the virtual object module to a joint position.
10. The material loading handover testing method of claim 9, wherein the feeding back the first environmental data to the lower computer module comprises:
and in the process of operating the control object model algorithm, acquiring the displacement data and the first sensor data, and sending the displacement data and the first sensor data to the lower computer module.
11. The material loading handover test method according to claim 8, wherein the lower computer module sends material motion command data to simulate the movement and fixation of the material to be transported at a preset position, and the method comprises the following steps:
and the lower computer module sends zone bit information to the virtual object module so as to simulate the material to move to the preset position, wherein the zone bit information comprises a mobile material zone bit and a fixed material zone bit.
12. The material loading handover test method of claim 8, wherein the upper computer module sends processing command data to the lower computer module to cause the lower computer module to control the virtual object module to move to a processing position, comprising:
the upper computer module sends the processing command data to the lower computer module, second force data is obtained after the lower computer module runs the processing command data, the second force data is sent to the virtual object module, the control object model algorithm is run through the second force data, and the virtual object module is moved to the processing position.
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| CN116227220A (en) * | 2023-03-15 | 2023-06-06 | 广东工业大学 | Construction method and system of three-dimensional virtual single machine configuration platform of SLT equipment |
| CN116257418A (en) * | 2023-01-04 | 2023-06-13 | 上海御微半导体技术有限公司 | Software and hardware joint simulation test platform and test method thereof |
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| US9201708B2 (en) * | 2013-08-20 | 2015-12-01 | Synopsys, Inc. | Direct memory interface access in a multi-thread safe system level modeling simulation |
| CN104598306B (en) * | 2014-12-05 | 2018-12-25 | 中国航空工业集团公司第六三一研究所 | One of PHM simulating, verifying process scheduling method |
| CN105573296B (en) * | 2016-01-15 | 2017-12-15 | 上海汽车变速器有限公司 | Vehicle diagnosis automatization test system and method based on hardware in loop |
| CN107367956A (en) * | 2017-07-31 | 2017-11-21 | 北京金恒博远科技股份有限公司 | A kind of automation simulation system and method |
| CN111103811A (en) * | 2020-01-20 | 2020-05-05 | 清华大学 | Control system semi-physical simulation platform |
| CN111782358A (en) * | 2020-06-22 | 2020-10-16 | 北京北方华创微电子装备有限公司 | Software control method for semiconductor process equipment and semiconductor process equipment |
| CN111739170B (en) * | 2020-06-24 | 2023-08-08 | 武汉久同智能科技有限公司 | Visual platform of industrial robot workstation |
| CN111985102A (en) * | 2020-08-19 | 2020-11-24 | 西安中锐创联科技有限公司 | Distributed integrated simulation method and system for multi-source heterogeneous model |
| CN112306875A (en) * | 2020-10-30 | 2021-02-02 | 南京汽车集团有限公司 | Automatic testing method based on HIL (hardware-in-the-loop) rack |
| CN113867889A (en) * | 2021-09-24 | 2021-12-31 | 北京机电工程研究所 | Distributed real-time simulation platform |
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| CN116257418A (en) * | 2023-01-04 | 2023-06-13 | 上海御微半导体技术有限公司 | Software and hardware joint simulation test platform and test method thereof |
| CN116227220A (en) * | 2023-03-15 | 2023-06-06 | 广东工业大学 | Construction method and system of three-dimensional virtual single machine configuration platform of SLT equipment |
| CN116227220B (en) * | 2023-03-15 | 2023-11-03 | 广东工业大学 | Construction method and system of three-dimensional virtual single machine configuration platform of SLT equipment |
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