CN100541374C - A kind of multiple axis linkage movement controller - Google Patents
A kind of multiple axis linkage movement controller Download PDFInfo
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- CN100541374C CN100541374C CNB200710029514XA CN200710029514A CN100541374C CN 100541374 C CN100541374 C CN 100541374C CN B200710029514X A CNB200710029514X A CN B200710029514XA CN 200710029514 A CN200710029514 A CN 200710029514A CN 100541374 C CN100541374 C CN 100541374C
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Abstract
The invention provides a kind of multiple axis linkage movement controller, be characterized in adopting many CPU concurrent control system, one of them host CPU calculates the interpolation coordinate of each, and each controls 2-4 kinematic axis respectively from CPU, adopt the universal serial bus mode to connect between the CPU, the CPU number can be expanded; Interpolation data buffer queue of each CPU management, interpolation data is stored in the local data buffer queue with unified format, host CPU carries out interpolation in advance and calculates, and in locally buffered formation, keep certain amount of buffered data, host CPU is regularly broadcasted interpolation data in the data block mode, after receiving data broadcasting from CPU, in locally buffered formation, keep the local interpolation data that needs; Each regularly reads interpolation data, executing location tracking Control from CPU from local buffer; The clock synchronization of each CPU adopts the broadcast synchronization signal to realize.The present invention can be used for the interlock of the multi-axis numerical control system more than 5.
Description
Technical field
The invention belongs to the computer control field, particularly a kind of multiple axis linkage movement controller.
Background technology
Multi-shaft motion control system is widely used in automation equipment, particularly in light industry package packing machine, printing machinery and the dedicated numerical control process equipment.Be characterized in that number of axes is many, the equipment layout scope wide, it is high to require synchronously.At the control of this type games axle, to adopt Fieldbus Based distributed control technology to realize multi-shaft interlocked more.SERCOS (serial real time communication specification, the series real-time communication agreement) is exactly a kind of field-bus interface and data exchange agreement that is used for digital servo and kinematic train, can realizes the real time data communication between industrial control computer and digital servosystem, sensor and the Programmable Logic Controller I/O mouth.The CAN bus also has similar application.
But SERCOS and the special equipment of CAN bus requirements support that application cost is higher.
Summary of the invention
The objective of the invention is provides the multiple axis linkage movement controller that a kind of cost is low, reliability is high at the deficiencies in the prior art.
Implementation of the present invention is as follows: a kind of multiple axis linkage movement controller, comprise a host CPU and a plurality of from CPU, and the universal serial bus mode connects between each CPU.
Described CPU selects DSP or MCU chip for use, and host CPU mainly is responsible for the interpolation of motion control and is calculated, and each adopts universal serial bus (SCI) mode to connect from 2-4 motor of CPU control between all CPU.Host CPU carries out interpolation in advance and calculates, and its result is temporarily stored in the locally buffered formation, and each also keeps a formation that structure is identical from CPU in this locality, and host CPU is regularly broadcasted by the mode of data block the interpolation data in the local queue on the SCI bus; After each receives broadcast data from CPU, this locality is controlled the position command data of motor and put into local queue, form a data buffering; The synchronous employing host CPU broadcast synchronization signal calibration of each CPU; Under the sampling clock effect, each send corresponding motor shaft to carry out Position Tracking Control from CPU regularly reads motor from locally buffered formation position command data.
Know-why of the present invention:
(1) connecting mode.Referring to accompanying drawing 1, the most subsidiary serial communication interface SCI of DSP or MCU embedded chip connect host CPU and each from CPU by bus mode, and host CPU shifts to an earlier date interpolation and calculates, and forms the interpolation data buffer queue of all kinematic axiss; Each from CPU at the identical interpolation data buffer queue of structure of local maintenance; Host CPU is pressed the data in the data block format fixed time broadcast buffer queue in the buffer queue, and the data god after having broadcasted is eliminated buffer queue; Each is from CPU broadcast listening data, and the axial coordinate director data relevant with this CPU put into locally buffered formation, forms the buffered data district an of this locality.
(2) clock synchronization.Each CPU all has the data clock that carries, and frequency setting is identical, when beginning motion, clock synchronization instruction of host CPU broadcasting, respectively receive this synchronic command from CPU after, with the local clock counter O reset, finish clock synchronization;
(3) Position Tracking Control.System is provided with the unified position control sampling period, when each sampling period signal arrives, respectively gets one group of position command data from CPU from local queue, upgrades local motor position.
The present invention compared with prior art has following advantage and beneficial effect: the invention provides the motion control system interconnect mode of a kind of many CPU, realize the interconnected of a plurality of motor shafts easily.Cost is low, reliable.
Description of drawings
Fig. 1 is the structural representation of a kind of multiple axis linkage movement controller of the present invention.
Embodiment
As shown in Figure 1, host CPU carries out the interpolation of each kinematic axis in advance and calculates, and its interpolation position instruction of calculating gained is pre-stored in the local data buffer queue; Host CPU is regularly with the data in the mode broadcast data buffer queue of data block, receive interpolation data from CPU by unified clock sync signal, and will with the interpolation position instruction storage of local motion axle in local queue, each has formed an axis Position Control instruction queue from CPU (kinematic axis control CPU) in this locality; Under the synchronizing signal instruction of host CPU,, carry out the Position Tracking Control of corresponding axis from CPU extracting position steering order from the buffering formation.Realizing with host CPU broadcast synchronization signal synchronously of master-slave cpu.
Claims (3)
1, a kind of multiple axis linkage movement controller is characterized in that: described multiple axis linkage movement controller comprises a host CPU and a plurality of from CPU, and CPU selects DSP or MCU for use, connects in universal serial bus SCI mode between each CPU, and host CPU is responsible for interpolation and is calculated; Each follows the tracks of the interpolation position instruction of host CPU from 2-4 axle of CPU control; Master-slave cpu is all at identical buffer queue of data structure of local maintenance, host CPU carries out interpolation in advance and calculates, and keep that certain buffering interpolation data is arranged in its buffer queue, host CPU is regularly broadcasted interpolation data in the buffer queue by the mode of data block, after receiving data broadcasting from CPU, keep local Control Shaft interpolation data in buffer queue.
2, controller according to claim 1 is characterized in that: all are used for the Position Tracking Control of this earth's axis from CPU timing reading of data from the interpolation data buffer queue of this locality.
3, controller according to claim 1 and 2 is characterized in that the clock synchronization of each CPU adopts the broadcast synchronization signal to realize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710029514XA CN100541374C (en) | 2007-08-01 | 2007-08-01 | A kind of multiple axis linkage movement controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710029514XA CN100541374C (en) | 2007-08-01 | 2007-08-01 | A kind of multiple axis linkage movement controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101101486A CN101101486A (en) | 2008-01-09 |
| CN100541374C true CN100541374C (en) | 2009-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB200710029514XA Expired - Fee Related CN100541374C (en) | 2007-08-01 | 2007-08-01 | A kind of multiple axis linkage movement controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240219A (en) * | 2018-10-16 | 2019-01-18 | 湖南戈人自动化科技有限公司 | A kind of multi-axis motion controller |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102650870A (en) * | 2012-05-18 | 2012-08-29 | 姜铭 | Embedded five-axis linkage control system |
| CN102929171B (en) * | 2012-08-16 | 2016-05-11 | 常州市翔云测控软件有限公司 | Network-type tricot machine control system and method |
| CN117348501B (en) * | 2023-12-05 | 2024-02-13 | 深圳市大族封测科技股份有限公司 | Linkage control method and linkage control system for multiple motion control cards |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240219A (en) * | 2018-10-16 | 2019-01-18 | 湖南戈人自动化科技有限公司 | A kind of multi-axis motion controller |
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| CN101101486A (en) | 2008-01-09 |
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