An extensible motion control simulation system and method

Abstract

This application discloses a scalable motion control simulation system and method. The simulation system specifically includes a motion control module, a signal receiving and processing module, and a simulation testing module. The motion control signal output by the motion control module is processed by the signal receiving and processing module into a simulation signal that can be used by the simulation testing module. The motion control signal can include at least bus-type and pulse-type signals. The simulation signal can correspond to position data generated based on the motion control signal from the motion control module. The simulation signal and simulation control parameters are input into the simulation model of the simulation testing module to achieve simulation testing of the motion control module. This simulation system enables corresponding expansion based on signal type and synchronous transmission of multiple signals. It is also compatible with motion control modules including pulse signal output and bus output, achieving realistic simulation control effects and further expanding the application scenarios of the simulation system.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and in particular to a scalable motion control simulation system and method. Background Technology

[0002] With the improvement of industrial automation, the number of control axes corresponding to motion controllers is increasing, the precision requirements for mechanical axis control are becoming higher, and the complexity of motion control is increasing. Furthermore, bus-type motion control is becoming more and more accepted by the market. Currently, for motion controller simulation systems, the number of input channels and axes is limited, and the number of channels cannot be expanded. Current motion control simulation systems mainly simulate pulse-type control signals and cannot be compatible with bus-type signals or other types of signals, resulting in a relatively limited range of signal types. Current simulation systems can only perform simulation testing online and do not support offline simulation.

[0003] For example, common motion control simulation systems such as SCARA robotic arms and DELTA robotic arms have relatively simple functions and a limited number of simulation channels. They are generally designed for dedicated control systems and cannot be compatible with multiple types of simulation signals. Summary of the Invention

[0004] To address the shortcomings of existing motion control simulation systems, such as limited simulation channels, lack of scalability, inability to simulate multiple types of control signals, and lack of support for offline simulation testing, this application proposes a scalable motion control simulation system and method, specifically including:

[0005] The first aspect of this application provides a scalable motion control simulation system, including: a motion control module, a signal receiving and processing module, and a simulation testing module;

[0006] The motion control module is used to output motion control signals according to program control parameters. The motion control signals include at least bus type and pulse type.

[0007] The signal receiving and processing module is used to generate corresponding simulation signals based on the received motion control signals;

[0008] The simulation test module is used to simulate and test the motion control status of the motion control module based on the simulation control parameters of the simulation model and the received simulation signals.

[0009] The simulation control parameters of the simulation model are associated with the program control parameters of the corresponding motion control module.

[0010] Furthermore, the signal receiving and processing module includes:

[0011] The main station signal receiving and processing unit is used to receive the motion control signals output by the motion control module and convert the motion control signals into corresponding simulation signals.

[0012] Furthermore, the main station signal receiving and processing unit is equipped with an interface for receiving motion control signals, as well as an interface for communicating with the simulation test module.

[0013] Furthermore, the main station signal receiving and processing unit is equipped with an interface for communication with an external storage medium, used to transmit simulation signals to achieve offline simulation on the terminal device.

[0014] Preferably, the signal receiving and processing module further includes:

[0015] The slave station signal receiving and processing unit is generated by extending the master station signal receiving and processing unit through a communication line.

[0016] The slave station signal receiving and processing unit is equipped with an interface for receiving motion control signals.

[0017] Preferably, the following is provided between the master station signal receiving and processing unit and the slave station signal receiving and processing unit:

[0018] The time synchronization device is used to synchronize the signal reception of the slave station signal receiving and processing unit according to the clock signal sent by the master station signal receiving and processing unit.

[0019] Preferably, the following is provided between the master station signal receiving and processing unit and the slave station signal receiving and processing unit:

[0020] The data transmission channel is used to transmit simulated signals between the master station signal receiving and processing unit and the slave station signal receiving and processing unit, and / or between the master station signal receiving and processing unit and several slave station signal receiving and processing units.

[0021] Preferably, the simulation model includes one or more of the following: a preset model, a locally imported model, and a user-built model.

[0022] Preferably, the simulation test module includes: a simulation display submodule, used to visualize simulation test results, program control parameters, and simulation control parameters.

[0023] A second aspect of this application provides a scalable motion control simulation method, applied to the aforementioned simulation system, including:

[0024] The motion control module outputs motion control signals based on the program control parameters.

[0025] The corresponding simulation signal is generated based on the motion control signal received by the signal receiving and processing module;

[0026] Based on the simulation control parameters and simulation signals in the simulation model of the simulation test module, the motion control status of the motion control module is simulated and tested.

[0027] The simulation control parameters of the simulation model are associated with the program control parameters of the corresponding motion control module.

[0028] This application has the following beneficial technical effects:

[0029] 1. The simulation system of the present invention generates corresponding simulation signals by receiving instructions from the motion control module to perform model simulation, realistically simulating the control effect without the need for on-site debugging, thus reducing the manpower and financial investment required for on-site debugging.

[0030] 2. The simulation system of the present invention is compatible with commonly used motion controllers with pulse signal output and bus output. It can also be extended according to the signal type and synchronously transmit multiple signals. The simulation system can be applied to different application scenarios and eliminates simulation errors caused by signal transmission delay.

[0031] 3. The simulation system of the present invention can realize the mechanical axis of the motion controller and the multi-channel control system through the expansion module. The number of channels can be set according to the simulation requirements and is not limited by the number of channels on the platform.

[0032] 4. The simulation system of the present invention supports both online and offline simulation modes, and can realize offline simulation of the same simulation signal data on different terminal devices through a mobile storage medium.

[0033] 5. The simulation system proposed in this invention has flexible simulation model settings. Simulation can be achieved through preset models, user-imported models, and user-built models, making it suitable for various motion control simulation scenarios, including industrial control simulation and teaching. Attached Figure Description

[0034] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0035] Figure 1 A block diagram of a scalable motion control simulation system is shown according to an embodiment of this application;

[0036] Figure 2 A block diagram of a simulation system based on a master station signal receiving and processing unit is shown according to an embodiment of this application;

[0037] Figure 3 An embodiment of this application illustrates a simulation system block diagram based on a master station signal receiving and processing unit and a slave station signal receiving and processing unit;

[0038] Figure 4 An implementation block diagram based on a master station signal receiving and processing unit and a slave station signal receiving and processing unit is shown according to an embodiment of this application;

[0039] Figure 5 According to an embodiment of this application, a circuit implementation block diagram of a master station signal receiving and processing unit and a slave station signal receiving and processing unit is shown;

[0040] Figure 6 An embodiment of this application illustrates a synchronization timing diagram of a master station signal receiving and processing unit and a slave station signal receiving and processing unit;

[0041] Figure 7 An example diagram of the effect based on simulation testing is shown according to an embodiment of this application;

[0042] Figure 8 A flowchart of a scalable motion control simulation method is shown according to an embodiment of this application; Detailed Implementation

[0043] Specific embodiments of the present invention will now be described in detail. It should be noted that the embodiments described herein are for illustrative purposes only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other instances, well-known circuits, materials, or methods have not been specifically described to avoid obscuring the invention.

[0044] Throughout this specification, references to “an embodiment,” “an example,” or “an example” mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases “in an embodiment,” “in an embodiment,” “an example,” or “an example” appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the accompanying drawings provided herein are for illustrative purposes and are not necessarily drawn to scale. It should be understood that when an element is referred to as “connected to” or “coupled to” another element, it can be a direct connection or coupling to the other element or there may be intermediate elements. Conversely, when an element is referred to as “directly connected to” or “directly coupled to” another element, there are no intermediate elements. The same reference numerals indicate the same elements. The term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0045] To address the shortcomings of existing motion control simulation systems, such as limited number of simulation channels, lack of scalability, inability to simulate multiple types of control signals, and lack of support for offline simulation testing, this application proposes a scalable motion control simulation system and method.

[0046] like Figure 1 As shown in the figure, according to an embodiment of this application, a block diagram of an scalable motion control simulation system is shown, which specifically includes: a motion control module 10, a signal receiving and processing module 20, and a simulation testing module 30;

[0047] The motion control module 10 is used to output motion control signals according to program control parameters. The motion control signals include at least bus type and pulse type.

[0048] The signal receiving and processing module 20 is used to generate corresponding simulation signals based on the received motion control signals.

[0049] The simulation test module 30 is used to perform simulation tests on the motion control status of the motion control module 10 based on the simulation control parameters of the simulation model 31 and the received simulation signals.

[0050] In this embodiment, the output terminal of the motion control module 10 is communicatively connected to the input terminal of the signal receiving and processing module 20. The signal receiving and processing module 20 receives and records the motion control signal, and generates a corresponding simulation signal based on the motion control signal. The simulation signal generates position and state data of the mechanical axis of the motion controller in the motion control module 10 based on the motion control signal. The simulation data and simulation control parameters are input into the simulation model 31 for simulation testing, and the simulation test results are obtained. The motion control state of the motion control module is further verified through the simulation test results.

[0051] The simulation control parameters of the simulation model are associated with the program control parameters of the corresponding motion control module.

[0052] In this embodiment, the simulation signal can be directly converted into the position data of the mechanical axis of the motion control module 10 according to the settings of the simulation test module configuration items. This position data can be directly associated with the corresponding simulation model 31. The sequence number of the mechanical axis in the motion control module 10 does not need to correspond one-to-one with the mechanical axis in the simulation test module 30. The association between the simulation control parameters and the program control parameters can be achieved in the simulation model set by the user. The simulation result presented by the simulation test module 30 is directly generated based on the motion control signal. There is no need for the simulation model to generate simulation data as a simulation signal for simulation, which improves the reliability of the simulation system.

[0053] In some embodiments of this application, the motion control signal may include pulse-type signals, bus-type signals, etc. The motion control signal is output by the motion controller of the motion control module 10 and is used to realize the verification of the output logic by the simulation test module, such as the control state of the mechanical axis.

[0054] In some embodiments of this application, the motion control module 10 may include a PLC programmable logic controller, a microcontroller controller, a stand-alone motion controller, a network controller, or other motion controllers. Those skilled in the art may also select a motion controller according to actual needs, and no limitation is made here.

[0055] In some embodiments of this application, the motion control module 10 supports the writing of relevant control programs to control corresponding mechanical axes and other motion devices. The motion control module 10 may have a mechanical axis control interface to control a single or multiple mechanical axes based on program control parameters. Specifically, the motion control module 10 can realize functions such as multi-axis linkage, multi-axis interpolation motion, axis position control, and axis acceleration / deceleration control. The main control capability of the motion control module 10 is realized based on the relevant programs written with program control parameters, and can realize precise position control, speed control, acceleration control, torque or force control of mechanical motion according to various motion control functions required by the user. Precise position, speed, acceleration and other controls of mechanical motion can be realized through function interfaces or configuration programming.

[0056] In some embodiments of this application, when the controlled object of the motion control module 10 is a motor driver, the signals corresponding to the mechanical axis control interface of the driver can generally include pulse and direction signals, bus control signals, etc.

[0057] In some embodiments of this application, the motion control module 10 may use bus-based control methods such as etherCAT bus, CANopen bus, and ModBus bus. Bus control reduces wiring complexity and allows for the reading back of the corresponding motion controller's status. Specifically, the motion control module 10 can periodically send motion control signals via bus communication. These motion control signals include data for controlling the position and status of each mechanical axis. In each preset communication cycle, the motion controller of the motion control module 10 controls each device, including the mechanical axis, to move to its designated position using the motion control signals.

[0058] In some embodiments of this application, the motion control module 10 may also control the mechanical axis based on pulse signals.

[0059] In some embodiments of this application, the simulation test module may correspond to terminal devices such as PCs and mobile devices, which may be selected by those skilled in the art according to actual needs, and are not limited herein.

[0060] like Figure 2 As shown in the figure, a simulation system block diagram based on a master station signal receiving and processing unit is illustrated according to an embodiment of this application.

[0061] Furthermore, the signal receiving and processing module 20 may include a main station signal receiving and processing unit 201, used to receive the motion control signal output by the motion control module 10 and convert it into a corresponding simulation signal. Specifically, the main station signal receiving and processing unit 201 receives the output motion control signal and, according to the data format requirements for the simulation signal in the simulation test module, converts the motion control signal into a simulation signal that the terminal can receive. For example, the motion control signal is converted into a simulation signal that includes mechanical axis position data indicating the motion controller.

[0062] Specifically, the main station signal receiving and processing unit 201 is equipped with an interface for receiving motion control signals and an interface for communicating with the simulation test module.

[0063] Specifically, the main station signal receiving and processing unit 201 is equipped with an interface for communicating with an external storage medium to transmit simulation signals for offline simulation on terminal devices. Specifically, the simulation signals generated by the main station signal receiving and processing unit are saved to an external storage medium, which can then transmit the simulation signals to other terminal devices. Based on these simulation signals, offline simulation testing and verification of the motion control system are achieved.

[0064] In this embodiment, the motion control signals received by the input terminal of the signal receiving and processing module 20 may include signals such as bus signals and pulse signals. At this time, the data receiving and processing interface of the corresponding master station signal receiving and processing unit 201 needs to be set according to the type and quantity of motion control signals. The input terminal of the master station signal receiving and processing unit 201 can also receive the data transmission format requirements of the simulation test module when performing simulation verification, and convert the corresponding motion control signals into the corresponding data format suitable for the terminal simulation test module. For example, the position data and status data of the corresponding mechanical axis of the motion control module 10. The position data can be used as the simulation signal of the simulation system test module to perform simulation.

[0065] In this embodiment, the specific number and type of interfaces for signal reception and output of the master station signal receiving and processing unit 201 are not specifically limited. They can be set according to the motion control signal type of the motion control module 10, the user's simulation requirements, signal resources, etc., and are not limited here. For example, the master station signal receiving and processing unit 201 includes input interfaces for 4-axis pulse signals and direction signals, as well as an input interface for etherCAT bus signals. It also has a high-speed interface for data transmission with the terminal device, including the simulation test module 30, such as Ethernet or PCIe.

[0066] In this implementation, in order to ensure that large amounts of data can be successfully uploaded to the terminal device, a gigabit Ethernet or PCIe high-speed interface is used to meet the bandwidth requirements. It also includes an interface for connecting to external storage media to synchronously store motion control signals, program control parameters, simulation signals and other data, so that the simulation of the motion control module 10 can be performed offline on other terminal devices.

[0067] In this embodiment, the external storage medium may include devices such as SD cards and portable hard drives. Those skilled in the art can set it according to actual needs, and there is no limitation here.

[0068] Furthermore, in order to expand the input of more pulse signals and other bus signals, several slave signal receiving and processing units 202 can be added to the master station signal receiving and processing unit 201 by extending communication lines.

[0069] Furthermore, a time synchronization device is provided between the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202, which is used to synchronize the signal reception of the slave station signal receiving and processing unit 202 according to the clock signal sent by the master station signal receiving and processing unit 201.

[0070] Specifically, a data transmission channel is provided between the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202 to realize the transmission of simulated signals between the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202 and / or between several slave station signal receiving and processing units 202.

[0071] In this embodiment, the slave station signal receiving and processing unit 202 receives and converts the received motion control signal into a corresponding simulation signal, and finally transmits it to the master station signal receiving and processing unit 201 through the data transmission channel. It then transmits the signal to the simulation test module of the terminal device through the data transmission interface for online simulation, or to an external storage medium for offline simulation on other terminal devices. Finally, based on the corresponding simulation model of the terminal device, the motion control system is simulated and tested in the simulation test module for verification.

[0072] like Figure 4 The following is a block diagram of a simulation system based on a master station signal receiving and processing unit and a slave station signal receiving and processing unit, according to an embodiment of this application. Specifically, the signal receiving and processing module 20 further includes a slave station signal receiving and processing unit 202, wherein a plurality of slave station signal receiving and processing units 202 are generated by extending the master station signal receiving and processing unit 201 through a communication line; the slave station signal receiving and processing unit 202 is provided with an interface for receiving motion control signals.

[0073] In this embodiment, the signal receiving and processing module 20 includes a master station signal receiving and processing unit 201 and a slave station signal receiving and processing unit 202. The specific number of interfaces of the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202 is not specifically limited. It can be set according to the motion control signal type of the motion control module 10, the user's simulation requirements, signal resources, etc., and is not limited here.

[0074] In this embodiment, the slave signal receiving and processing unit 202 can be expanded through the master signal receiving and processing unit 201 based on a high-speed bus including LVDS. The number and interface type of the slave signal receiving and processing unit 202 are set according to the simulation requirements and are not limited here.

[0075] like Figure 4 As shown in the figure, according to an embodiment of this application, an implementation block diagram based on a master station signal receiving and processing unit and a slave station signal receiving and processing unit is illustrated. Specifically, the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202 include input interfaces for 4-axis pulse signals and direction signals, and several etherCAT bus slave interfaces. They also have a high-speed interface, such as Ethernet or PCIe, for data transmission with terminal devices, including the simulation test module 30. The implementation of other connection relationships and interface settings can be consistent with the interface settings and connection relationships of the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202 in the aforementioned embodiment, and will not be elaborated here.

[0076] Furthermore, such as Figure 5 The diagram shows a circuit implementation block diagram of a master station signal receiving and processing unit 201. The circuit implementation of the slave station signal receiving and processing unit 202 is similar to that of the master station signal receiving and processing unit 201. Both can use this method to receive pulse signals and bus signals as well as transmit data.

[0077] In some embodiments of this application, the input interfaces of the simulation system can be diversified through appropriate slave station expansion, making it applicable to a wider range of application fields.

[0078] In this embodiment, the master station signal receiving and processing unit 201 extends to two slave station receiving units 202, including slave station 1 and slave station 2. Slave station 1 supports multi-axis pulse signal input and multi-axis CANopen bus axis signal input acquisition, while slave station 2 supports multi-axis pulse signal input and multi-axis ModBus bus axis signal input acquisition. The core of the master station signal receiving and processing unit 201 is to realize the conversion of motion control signals through FPGA. Specifically, all motion control signals received by the master station signal receiving and processing unit 201 and / or the slave station signal receiving and processing unit 202 are converted according to the terminal control instructions or protocols, and the converted simulation signal, i.e., the position data of the control axis of the motion control module 10, is uploaded to the simulation test module of the terminal device. This data transmission and conversion process requires the cooperation of Ethernet or PCIe interface to achieve the final simulation test.

[0079] Specifically, the core of slave station 1 and slave station 2 is to use FPGA to convert the motion control signals received by slave station signal receiving unit 202 according to the instructions or protocols of the terminal control, and transmit the converted simulation signals to master station signal receiving unit 201. Master station signal receiving unit 201 collects and packages the simulation signals from slave station 1, slave station 2 and master station signal receiving unit 201 itself, and sends them to the terminal device.

[0080] In this embodiment, in order to meet the requirements of large-capacity data transmission, a high-speed communication interface can be selected to communicate with the terminal device.

[0081] In some embodiments of this application, the master station signal receiving and processing unit 201 transmits the converted simulation signal, i.e., the position data of the control axis of the motion control module 10, to the external storage medium through the interface of the external storage medium, and finally moves the data to other terminal devices through the external storage medium, thereby realizing the final offline simulation.

[0082] In some embodiments of this application, program control parameters, position data, and simulation control parameters can also be stored in an external storage medium device through an external storage medium communication interface to realize offline simulation of the simulation system.

[0083] Specifically, for the input pulse signal, the FPGA can count the pulse signal within a set sampling period to convert the motion control signal into a simulation signal and transmit it to the terminal device.

[0084] Specifically, for the input signals of the bus, a communication interface chip is generally required to record the instruction data received in each cycle and the corresponding time. Then, the motion control signal data is converted into the data format required for simulation and finally uploaded to the terminal device in the form of simulation signals to realize the simulation test of the terminal device's simulation test module.

[0085] In some instances of this application, for buses such as CANopen or Modbus, the FPGA can generally be connected via a level conversion chip and sampled directly according to the protocol. For buses such as etherCAT, a dedicated etherCAT chip is required, and the FPGA accesses the dedicated etherCAT chip to obtain the corresponding data.

[0086] In some embodiments of this application, when the motion control signal is a bus signal, it can be configured as a one-in-one-out interface.

[0087] The circuit implementation of the slave station signal receiving and processing unit 202 is the same as that of the master station signal receiving and processing unit 201, except that it does not require an interface for communication with the terminal and an interface for communication with the external storage medium. It will not be described in detail here.

[0088] The master station signal receiving and processing unit 201 and slave station signal receiving and processing unit 202 described above are only one example in this invention. If more pulse interfaces or bus interfaces are needed, the bus interface of the slave station can be modified to a pulse interface or a bus interface of the corresponding type to enable the master station signal receiving and processing unit 201 and slave station signal receiving and processing unit 202 to receive other types of signals and transmit simulations. Those skilled in the art can select the interface type and number of the master station signal receiving and processing unit 201 and slave station signal receiving and processing unit 202 according to the type of output signal of the motion control module 10.

[0089] In some embodiments of this application, the number and interface type of the slave signal receiving and processing unit 202 are not limited. According to the user's simulation requirements, if there is a new bus type or other controller signal, it is not necessary to modify the mode of the entire master signal receiving and processing unit 201. It is only necessary to expand the slave signal receiving and processing unit 202 accordingly to meet the simulation requirements of the simulation test module.

[0090] In this embodiment, the signal reception time is recorded based on the clock of the master station signal receiving and processing unit 201, and the time is synchronized with the slave station signal receiving and processing unit 202 through a time synchronization device. The specific implementation will be described in detail below.

[0091] When simulating multiple devices in the motion control module, it needs to be implemented based on the same simulation system. When the input simulation interface is expanded through the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202, it is necessary to ensure that the time between the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202 remains synchronized. At the same time, all slave station signal receiving and processing units 202 need to send the received device position data, status data, etc. to the master station signal receiving and processing unit 201, and then the master station signal receiving and processing unit 201 sends them to the simulation test module of the terminal device or the external storage medium. Therefore, the master station signal receiving and processing unit 201 and the slave station signal receiving and processing unit 202 need to ensure time synchronization and sufficient data bandwidth to achieve high-speed data transmission.

[0092] like Figure 6 As shown in the embodiment of this application, a synchronization timing diagram of a master station signal receiving and processing unit and a slave station receiving unit is illustrated. Clock synchronization consists of a timing clock flip signal and a time data communication interface, both of which are directly interacted by the master station signal receiving and processing unit 201 FPGA and the slave station signal receiving and processing unit 202 FPGA. The timing clock flip signal is issued by the master station signal receiving and processing unit 201, and performs a level flip once every fixed time N. The flip frequency does not need to be particularly high, generally one flip per few hundred milliseconds to a few seconds is sufficient. Its main function is to send a time base signal based on the master station signal receiving and processing unit 201 to the slave station signal receiving and processing unit 202. After each level flip of the timing clock flip signal, the master station signal receiving and processing unit 201 will send the time data of this flip, based on the time base of the master station signal receiving and processing unit 201, to each slave station signal receiving and processing unit 202. For example, the master station signal receiving and processing unit 201 records the time of the first flip as time 0 and sends the time data to each slave station signal receiving and processing unit 202. The slave station signal receiving and processing unit 202 uses this time data to synchronize its own clock reference. After the second flip, the master station time at time N is sent to each slave station signal receiving and processing unit 202. The slave station signal receiving and processing unit 202 then uses this time data to calibrate its own clock reference. This ensures that each slave station signal receiving and processing unit 202 performs a clock calibration once every time the signal flips, ensuring that the simulated signals uploaded to the terminal device or stored on the external storage medium, such as motion state data, are simulated based on a relatively unified clock reference, and all simulated signal data carries time information.

[0093] In this embodiment, the high-speed signal transmission of the simulated signal is illustrated using the LVDS interface as an example. While meeting the requirements of high-speed signal impedance, its maximum frequency can exceed 500 Mbps, and it supports multiple channels, fully capable of handling large data transmission between a master station and multiple slave stations.

[0094] In some embodiments of this application, the simulation model 31 can be constructed by one or more of the following: a preset model, a locally imported model, and a self-built model.

[0095] Specifically, the simulation test module 30 includes a simulation display submodule 32, which is used to visualize simulation test results, program control parameters and / or simulation control parameters.

[0096] In some embodiments of this application, the program control parameters and simulation control parameters can be associated and correspond, without the need to maintain a one-to-one correspondence between the mechanical axis labels of the motion control module 10 and the mechanical axis labels of the simulation model. Motion control simulation of the motion control signals corresponding to each mechanical axis can be achieved through parameter association.

[0097] like Figure 7 As shown in the figure, according to an embodiment of this application, an example diagram of a simulation test effect is illustrated. In the simulation software, this invention uses Unity3D as the development engine as an example. On this Unity3D-based simulation software, users can set the start and stop of the simulation system, the simulation sampling time period, select the model to be simulated, and also set and associate the program control parameters and simulation parameters of each device in the simulation model, including mechanical axes, to meet various simulation test needs and scenarios.

[0098] Furthermore, during the entire motion simulation process, the trajectory of the motion of specified equipment, including mechanical axes, can be plotted and displayed, and / or the motion position parameters of the equipment can be displayed in real time.

[0099] In this embodiment, the simulation software has a large number of commonly used simulation models pre-built, such as SCARA robotic arm, DELTA robotic arm, and gantry robotic arm models, which users can directly call. Users can also choose to import their own models locally or build their own models according to their simulation needs to form a personalized simulation library, which can be used as a simulation model to simulate the motion control module. There are no restrictions on the construction of simulation models here.

[0100] like Figure 8 As shown in the figure, according to an embodiment of this application, a flowchart of a scalable motion control simulation method is illustrated, including:

[0101] Step S1: Output motion control signals according to the program control parameters of the motion control module. The motion control signals include at least bus type and pulse type.

[0102] Step S2: Generate corresponding simulation signals based on the motion control signals received by the signal receiving and processing module.

[0103] Step S3: Based on the simulation control parameters and simulation signals in the simulation model of the simulation test module, perform simulation tests on the motion control status of the motion control module.

[0104] The simulation control parameters of the simulation model are associated with the program control parameters of the corresponding motion control module.

[0105] In this embodiment, the method is applied to the aforementioned scalable motion control simulation system to realize simulation testing functions, which will not be elaborated further here.

[0106] In the specification, terms such as "first" and "second" may be used merely to distinguish one entity or action from another, and do not necessarily imply any relationship or order between these entities or actions. Numerical orders such as "first," "second," and "third" refer only to different individuals among a plurality and do not imply any order or sequence, unless specifically defined in the language of the claims. The order of the text in any claim does not imply that the processing steps must be performed in a provisional or logical order according to such order, unless specifically specified in the language of the claims. Without departing from the scope of the invention, these processing steps may be interchanged in any order, provided that such interchange does not contradict the language of the claims and does not result in logical absurdity.

[0107] Although the invention has been described with reference to several exemplary embodiments, it should be understood that the terminology used is descriptive and exemplary, and not restrictive. Since the invention can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A scalable motion control simulation system, characterized in that, The system includes: a motion control module, a signal receiving and processing module, and a simulation testing module; The motion control module is used to output motion control signals according to program control parameters, and the motion control signals include at least bus type and pulse type. The signal receiving and processing module is used to generate corresponding simulation signals from the received motion control signals; The simulation test module is used to perform simulation tests on the motion control status of the motion control module based on the simulation control parameters of the simulation model and the received simulation signals. The simulation control parameters of the simulation model are associated with the program control parameters of the motion control module. The signal receiving and processing module includes: The main station signal receiving and processing unit is used to receive the motion control signal output by the motion control module and convert the motion control signal into the corresponding simulation signal; Slave signal receiving and processing unit, a plurality of said slave signal receiving and processing units are generated by extending the master signal receiving and processing unit through communication lines; The slave station signal receiving and processing unit is provided with an interface for receiving the motion control signal.

2. The scalable motion control simulation system according to claim 1, characterized in that, The main station signal receiving and processing unit is equipped with an interface for receiving the motion control signal and an interface for communicating with the simulation test module.

3. The scalable motion control simulation system according to claim 1, characterized in that, The main station signal receiving and processing unit is equipped with an interface for communication with an external storage medium, used to transmit the simulation signal to achieve offline simulation on the terminal device.

4. The scalable motion control simulation system according to claim 1, characterized in that, The master station signal receiving and processing unit and the slave station signal receiving and processing unit are configured with the following: A time synchronization device is used to synchronize the signal reception of the slave station signal receiving and processing unit according to the clock signal emitted by the master station signal receiving and processing unit.

5. A scalable motion control simulation system according to claim 1, characterized in that, The master station signal receiving and processing unit and the slave station signal receiving and processing unit are provided with: A data transmission channel is used to transmit the simulated signal data between the master station signal receiving and processing unit and the slave station signal receiving and processing unit, and / or between the plurality of slave station signal receiving and processing units.

6. The scalable motion control simulation system according to claim 1, characterized in that, The simulation model includes one or more of the following: a preset model, a locally imported model, and a self-built model.

7. A scalable motion control simulation system according to claim 1, characterized in that, The simulation testing module includes: The simulation display submodule is used to visualize the simulation test results, the program control parameters, and / or the simulation control parameters.

8. A scalable motion control simulation method, characterized in that, The method includes: The motion control module outputs motion control signals based on the program control parameters, and the motion control signals include at least bus type and pulse type. The motion control signal received by the signal receiving and processing module is used to generate a corresponding simulation signal; Based on the simulation control parameters and simulation signals in the simulation model of the simulation test module, the motion control status of the motion control module is simulated and tested. The simulation control parameters of the simulation model are associated with the program control parameters of the motion control module. The master station signal receiving and processing unit in the signal receiving and processing module receives the motion control signal output by the motion control module and converts the motion control signal into the corresponding simulation signal. The master station signal receiving and processing unit is extended to generate several slave station signal receiving and processing units through communication lines; each slave station signal receiving and processing unit is equipped with an interface for receiving the motion control signal.

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