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A precision motion platform control method for cross-platform communication

A technology of precise motion and control methods, which is applied to the generation of response errors, redundant codes for error detection, instruments, etc. It can solve the problems of poor human-computer interaction and poor real-time performance, achieve high real-time performance, achieve precise control, and expand good effect

Active Publication Date: 2021-07-16
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the traditional control method based on a single operating system platform has either poor human-computer interaction or poor real-time performance, and is not suitable for the precise control of complex motion mechanisms, the present invention provides a cross-platform communication precision motion platform control method

Method used

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  • A precision motion platform control method for cross-platform communication

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Embodiment

[0042] Suppose the upper computer needs to send the three control parameters of PID (proportional-integral-derivative) 12000, 361300, 27 to the lower computer, and then the lower computer sends the parameter values ​​to the motion control card and the motion control card controls the motion platform. The execution flow of the process is as follows:

[0043] 1. According to the prescribed protocol format, the upper computer performs protocol encoding on the instruction "sending PID control parameters", and refines the length and content involved in the protocol with check digit information.

[0044] (1) First determine the key-value pair information in the content. Since the PID parameter has three double values, there are three key-values, that is, the kv count is 0x0003. The three key-values ​​correspond to the proportional parameter P, the integral parameter I and the differential parameter D respectively. The three key-values ​​are specifically defined as:

[0045] The K...

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Abstract

The invention discloses a precision motion platform control method for cross-platform communication. The method includes the following steps: 1. The upper computer sends control instructions to the lower computer through a network cable; 2. The lower computer performs CRC check on the received data , to generate a CRC check code; 3. The lower computer compares the generated check code with the check code in the received control command, and sends feedback information to the upper computer; 4. The lower computer analyzes the received control command , and convert the received value into big and small ends; 5. The lower computer sends the value after big and small endian conversion to the motion control card through the VME bus, and the motion control card sends the result of the operation to the motion platform through the optical fiber after calculation. The invention adopts the Windows+VxWorks cross-platform communication mode to realize the transmission of control instructions of the precision motion platform, and has high real-time performance, good man-machine interaction, flexible communication protocol and good expansibility.

Description

technical field [0001] The invention belongs to the field of ultra-precision equipment manufacturing and relates to a control method for a precision motion table. Background technique [0002] Manufacturing is the cornerstone of modern industry and a basic industry related to the destiny of a country. At present, my country is relatively backward in the field of high-end equipment manufacturing, and related equipment is heavily dependent on imports. [0003] The precision motion table is a key component of high-end equipment such as lithography machines and CNC machine tools, and its control performance directly determines the yield and quality of processed products. Traditional control methods based on a single windows platform, Linux platform or VxWorks embedded operating platform either have poor real-time performance or poor human-computer interaction, and are not suitable for the control needs of precision / ultra-precision motion platforms. Contents of the invention ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F9/30G06F11/10G06F13/40
CPCG06F9/30094G06F11/1004G06F13/4013
Inventor 宋法质刘杨刘凯鑫崔宁李理
Owner HARBIN INST OF TECH