Motion control algorithm framework design method, system and equipment

Abstract

The present invention relates to the field of motion control for numerically controlled machine tools and industrial robots, and in particular to a motion control algorithm framework design method, system, and computer equipment. The method comprises: creating corresponding motion control tasks for each link of the motion control algorithm; designing a universal connection method and transmission method for data transfer between different motion control tasks; and executing each motion control task in an appropriate logical sequence to implement data processing and data transfer of motion trajectory information by the motion control algorithm. The present invention designs motion control tasks as a unified model for different specific motion control algorithms, and designs a universal connection method and transmission method for data transfer between different motion control tasks, so as to improve the research and development efficiency of motion control algorithms in fields such as numerically controlled machine tools and industrial robots, and reduce the research and development cost and difficulty of the algorithms.

Description

Technical Field

[0001] The present invention relates to the field of motion control of CNC machine tools and industrial robots, and in particular to a motion control algorithm framework design method, system and computer equipment that can be applied to CNC machine tools and industrial robot control systems. Background Art

[0002] Currently, the development of motion control algorithms for CNC machine tools and industrial robot control systems generally involves principle simulation, platform installation, and experimental verification. The motion control algorithm development process is characterized by the following key steps: algorithm performance requires continuous research and improvement; the development of new algorithms typically involves multiple rounds of iterations through these steps; and, in addition to motion control for general-purpose equipment, the demand for control of specialized equipment is growing. Therefore, improving the efficiency of motion control algorithm development is crucial to enhancing the performance of domestic CNC machine tools and industrial robot control systems.

[0003] Based on past experience, during the development of motion control algorithms, algorithms and data flows constantly impose new restrictions on the software structure, making the software structure increasingly rigid. This leads to increasing preparatory time for new algorithm experiments and increasing the time cost and difficulty of developing new algorithms. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the first purpose of the present invention is to provide a motion control algorithm framework design method, which designs a motion control task (MCT) as a unified model for different specific motion control algorithms, and designs a universal connection method and transmission method for data transfer between different motion control tasks (MCTs), so as to improve the research and development efficiency of motion control algorithms in application fields such as CNC machine tools and industrial robots, and reduce the research and development cost and difficulty of the algorithm.

[0005] Based on the same inventive concept, the second object of the present invention is to provide a motion control algorithm framework design system.

[0006] Based on the same inventive concept, a third object of the present invention is to provide a computer device.

[0007] In an embodiment of the present invention, a motion control algorithm framework design method includes the following steps:

[0008] Create corresponding motion control tasks for the links of the motion control algorithm;

[0009] Design universal connection and transmission methods for data transfer between different motion control tasks;

[0010] Execute each motion control task in an appropriate logical order to realize the data processing and data transmission of motion trajectory information by the motion control algorithm.

[0011] In a preferred embodiment, the motion control algorithm is used to output the motion trajectory information to a hardware device after processing it through multiple algorithm links; the multiple algorithm links include instruction reading, curvature estimation, velocity planning, interpolation and output, and the motion trajectory information includes instructions, velocity, unit vector, length, velocity planning and output points.

[0012] In a preferred embodiment, each motion control task created for the motion control algorithm includes a storage buffer for input and output motion trajectory information, an algorithm module, and motion parameters, and serves as a carrier for combining the specific motion control algorithm, motion trajectory information before and after algorithm processing, and motion parameters.

[0013] Further preferably, corresponding motion control tasks are created for the links of the motion control algorithm, including:

[0014] Create a blank motion control task;

[0015] Set motion parameters;

[0016] Create algorithm modules;

[0017] Combine and connect the output trajectory information of other motion control tasks to obtain the input trajectory information storage buffer of the current motion control task; and create the output trajectory information storage buffer of the current motion control task in an automatic generation manner;

[0018] The created algorithm module and input and output trajectory information storage buffer are installed into the blank motion control task, and the specific current motion control task is obtained by combining them.

[0019] Furthermore, the input trajectory information storage buffer and the output trajectory information storage buffer of the current motion control task provide a unified representation for the data exchanged between motion control algorithms; the motion control algorithm processes each basic trajectory segment of the motion trajectory to be controlled one by one, and attributes the processed input and output data to the basic trajectory segment.

[0020] Furthermore, when creating a storage buffer for the output trajectory information of a motion control task, the basic trajectory segment is used as the basic unit. By specifying the information and quantity of a basic trajectory segment to be output, the width of the storage area required to store the output information on a segment of the current motion control task is determined, where the height of the storage area corresponds to the number of segments of the basic trajectory.

[0021] Furthermore, the algorithm module created and installed into the blank motion control task reads the input trajectory information storage buffer and writes the output trajectory information storage buffer in a unified manner;

[0022] Taking the basic trajectory segment as the basic unit, the reading operation of the input trajectory information storage buffer includes: determining whether the input trajectory information storage buffer is empty, obtaining the current number of readable basic trajectory segments, reading a segment of trajectory information from the current reading position and updating the reading position, and reading a segment of basic trajectory information from any position within the readable range;

[0023] The write operation to the output trajectory information storage buffer includes: determining whether the output trajectory information storage buffer is full, obtaining the number of basic trajectory segments currently written, writing a segment of basic trajectory information from the current writing position and updating the writing position, and writing, updating, or reading a segment of basic trajectory information from any position within the written range.

[0024] Furthermore, the algorithm module created and installed in the blank motion control task parses the basic trajectory segment information read from the input trajectory information storage buffer through the designed trajectory protocol mechanism. When creating the output trajectory information storage buffer of the current motion control task, a protocol address is assigned to each information on the basic trajectory segment. During parsing, the corresponding information is automatically extracted from the trajectory segment through the corresponding protocol address.

[0025] In a preferred embodiment, a combination and connection mode are designed for data transmission between different motion control tasks MCT; the designed connection modes include: one-to-one connection mode, one-to-many connection mode and many-to-one connection mode;

[0026] When transferring data between different motion control tasks MCT, the corresponding connection method is selected based on the data transfer needs of each algorithm link in the entire motion control solution.

[0027] In an embodiment of the present invention, a motion control algorithm framework design system includes:

[0028] Motion control task creation module, used to create corresponding motion control tasks for the links of motion control algorithm;

[0029] The connection and transmission design module is used to design universal connection and transmission methods for data transfer between different motion control tasks;

[0030] The execution module is used to execute each motion control task in a suitable logical order, and realize the data processing and data transmission of motion trajectory information by the motion control algorithm;

[0031] The process of creating a motion control task by the motion control task creation module includes:

[0032] Create a blank motion control task;

[0033] Set motion parameters;

[0034] Create algorithm modules;

[0035] Combine and connect the output trajectory information of other motion control tasks to obtain the input trajectory information storage buffer of the current motion control task; and create the output trajectory information storage buffer of the current motion control task in an automatic generation manner;

[0036] The created algorithm module and input and output trajectory information storage buffer are installed into the blank motion control task, and the specific current motion control task is obtained by combining them.

[0037] In an embodiment of the present invention, a computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the motion control algorithm framework design method of the present invention are implemented.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. The present invention creates a motion control task (MCT) as a unified model for different specific motion control algorithms, and designs a universal connection method and transmission method for data transfer between different motion control tasks MCT, so as to improve the research and development efficiency of motion control algorithms in application fields such as CNC machine tools and industrial robots, reduce the research and development cost and difficulty of the algorithms; improve the development efficiency of special equipment, reduce development costs, and allow products to cover a wider market; liberate algorithm engineers and focus their research and development efforts on improving the performance of motion control algorithms.

[0040] 2. The motion control algorithm framework designed in the present invention is a tool suitable for the development of motion control algorithms for robots in various industrial control systems. It facilitates the rapid encapsulation of motion control algorithms that have undergone principle simulation into a combination unit, namely, a motion control task; facilitates the connection of combination units to realize the transmission of algorithm data; facilitates the adjustment of the relationship between combination units to accelerate the iteration of the research and development process; facilitates the addition, deletion, and reuse of combination units to improve the development efficiency of the control algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic diagram of a flow chart of a motion control scenario in an embodiment of the present invention;

[0042] Figure 2 Schematic diagram of a model of a motion control task MCT created in an embodiment of the present invention;

[0043] Figure 3 is a flow chart of creating a motion control task MCT in an embodiment of the present invention;

[0044] Figure 4 2 is a schematic diagram of creating a storage buffer for output trajectory information of a motion control task MCT according to an embodiment of the present invention;

[0045] Figure 5 1. This is a schematic diagram of a storage buffer for trajectory information output by an algorithm operation of a motion control task MCT in an embodiment of the present invention;

[0046] Figure 6 is a schematic diagram of parsing trajectory information through the trajectory protocol mechanism in an embodiment of the present invention;

[0047] Figure 7 1 is a schematic diagram of a one-to-many connection for data transmission between motion control tasks MCT in an embodiment of the present invention;

[0048] Figure 8 1 is a schematic diagram of a many-to-one connection for data transmission between motion control tasks MCT in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments and drawings. Obviously, the embodiments described below are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0050] Example 1

[0051] This embodiment provides a method for designing a motion control algorithm framework for CNC machine tools and industrial robot control systems. The designed algorithm framework is a tool suitable for the development of motion control algorithms for CNC machine tools and industrial robots, and is called an algorithm combination tool. It is expected that by using this algorithm combination tool: it will be easy to quickly encapsulate the algorithm that has been simulated in principle into a combination unit; it will be easy to connect the combination units to realize the transmission of algorithm data; it will be easy to adjust the relationship between the combination units to accelerate the iteration of the research and development process; it will be easy to add, delete, and reuse combination units to improve development efficiency. The algorithm combination tool is implemented based on industrial control systems such as CNC machine tools and industrial robot control systems, and includes the following steps:

[0052] S1. Create corresponding motion control tasks for the links of the motion control algorithm.

[0053] The characteristic of motion control algorithm is that the information on the motion trajectory (such as length, speed) is processed through multiple algorithm links and then output to the hardware device to achieve the desired control effect. Figure 1 As shown, in the motion control scenario of this embodiment, the motion control algorithm includes command reading, curvature estimation, velocity planning, interpolation, and output. The information on the motion trajectory (hereinafter referred to as motion trajectory information) includes commands, velocity, unit vector, length, velocity planning, and output points. Therefore, this embodiment designs a unified model for each link of different motion control algorithms, which is called a motion control task (MCT).

[0054] Each motion control task MCT created in this step includes a storage buffer for input and output motion trajectory information, an algorithm module, and motion parameters, and serves as a carrier for combining specific motion control algorithms, motion trajectory information before and after algorithm processing, and motion parameters. Figure 2 shown.

[0055] like Figure 3 As shown, the specific steps of creating the motion control task MCT in this embodiment include:

[0056] S11. Create a blank motion control task MCT;

[0057] S12, setting motion parameters;

[0058] S13, creating an algorithm module;

[0059] S14, combining and connecting the output trajectory information of other motion control tasks MCT to obtain the input trajectory information storage buffer of the current motion control task MCT; and creating the output trajectory information storage buffer of the current motion control task MCT in an automatic generation manner;

[0060] S15 , the created algorithm module and input and output trajectory information storage buffer are installed into the blank motion control task MCT, and the specific current motion control task MCT is obtained by combining them.

[0061] At this point, the creation of the motion control task MCT is completed. Among them, the three steps S12, S13, and S14 have no order restrictions and are in a parallel relationship; the results of the three steps S12, S13, and S14 are combined through step S15 to obtain an actual MCT. In addition, the motion parameters set in step S12 have been designed in the motion control task MCT. According to the motion control scenario, general control parameters are abstracted, such as the number of control axes, the starting point of the trajectory, and the speed limit, acceleration limit, spatial position limit and other parameter information of each control axis. In actual applications, step S12 sets parameters according to the algorithm that needs to be installed on the motion control task MCT, such as Figure 1 The curvature estimation algorithm needs to set the trajectory starting point parameters, and Figure 1 The speed planning algorithm needs to set speed limits, acceleration limits, etc.

[0062] As a preferred technical solution, in step S14, the input trajectory information storage buffer and the output trajectory information storage buffer of the current motion control task MCT provide a unified representation for the data interacting between motion control algorithms. Since the motion trajectory to be controlled is generally composed of a large number of basic trajectory segments, the motion control algorithm generally adopts a method of processing each basic trajectory segment one by one, that is, the processed input and output data are all attributed to the basic trajectory segment. Therefore, when creating the output trajectory information storage buffer of the motion control task MCT, the basic trajectory segment is used as the basic unit. By specifying the information and quantity of a basic trajectory that needs to be output, the width of the storage area required to save the output information on a trajectory of the current motion control task MCT can be determined; the height of the storage area corresponds to the number of segments of the basic trajectory, and there is a maximum design limit. Therefore, a suitable output trajectory information storage buffer can be created to achieve the purpose of adjusting the size of each MCT output buffer as needed to avoid waste. As Figure 4 As shown in Figure 1, by specifying the unit vector and length of a basic trajectory, a suitable output trajectory information storage buffer can be created. The input trajectory information storage buffer uses the output of other MCTs as the input of the current MCT through combination and connection steps.

[0063] As a preferred technical solution, in step S15, when the created algorithm module is installed into the blank motion control task MCT, the input trajectory information storage buffer is read and the output trajectory information storage buffer is written in a unified manner. According to the characteristic that the motion trajectory is generally composed of a large number of basic trajectory segments, the basic trajectory segment is used as the basic unit, and the following method is provided for the reading operation of the input trajectory information storage buffer: determine whether the input trajectory information storage buffer (referred to as the input buffer) is empty, obtain the current number of readable basic trajectory segments, read a segment of trajectory information from the current reading position and update the reading position, and read a segment of basic trajectory information from any position within the readable range. Similar to the reading operation, the following method is provided for the writing operation of the output trajectory information storage buffer: determine whether the output trajectory information storage buffer (referred to as the output buffer) is full, obtain the current number of written basic trajectory segments, write a segment of basic trajectory information from the current writing position and update the writing position, write, update or read a segment of basic trajectory information from any position within the written range, such as Figure 5 shown.

[0064] As a preferred technical solution, in step S15, when the created algorithm module is installed into the blank motion control task MCT, a trajectory protocol mechanism is designed to facilitate the parsing of specific information on the trajectory segment after reading a certain segment of trajectory information from the input trajectory information storage buffer with the basic trajectory segment as the basic unit. When creating the output trajectory information storage buffer of the current motion control task MCT, a protocol address is assigned to each piece of information on the basic trajectory segment. During parsing, the corresponding protocol address is used to automatically extract the corresponding information from the trajectory segment, such as Figure 6 For example, when creating the output trajectory information storage buffer of the velocity planning algorithm, the specific information such as the velocity, unit vector, and length contained in a trajectory is obtained from the input trajectory information storage buffer, and the corresponding information is extracted according to the corresponding protocol address.

[0065] S2. Design universal connection and transmission methods for data transfer between different motion control tasks.

[0066] Since the input trajectory information of the motion control algorithm may come from the output of one or more other motion control algorithms, such as Figure 1 Similarly, the output trajectory information of a motion control algorithm may be used as input by one or more other motion control algorithms, such as Figure 1 Therefore, this embodiment designs a universal connection mode and transmission mode for data transmission between different motion control tasks (MCTs), which satisfies the data transmission between different motion control tasks MCTs in actual development.

[0067] As a preferred technical solution, in step S2, a combination and connection method is designed for data transmission between different motion control tasks MCT. When creating a motion control task MCT, the output trajectory information of one MCT can be provided to one or more other MCTs through simple combination and connection operations, such as Figure 7 The output trajectory information of one or more MCTs can be combined and provided to other MCTs for use, such as Figure 8 As shown, three types of connection methods are implemented: one-to-one, one-to-many, and many-to-one, covering a variety of connection needs. This connection method design not only supports the diversity of data transmission between different motion control task MCTs during algorithm development, but also facilitates the integration of motion control task MCTs after parallel development, improving development efficiency.

[0068] When transferring data between different motion control tasks MCT, select the corresponding connection method based on the data transfer needs of each algorithm link in the entire motion control solution. Figure 1 As shown in the figure, the instruction reading link is connected in a one-to-many manner when transmitting instructions (instructions include instruction position, instruction speed and other motion instructions) to the curvature estimation and interpolation links; the curvature estimation and speed planning links are connected in a many-to-one manner when transmitting unit vectors, lengths and speeds to the interpolation link; and the interpolation link is connected in a one-to-one manner when transmitting output points to the hardware output link.

[0069] S3. Execute each motion control task in an appropriate logical order to realize the data processing and data transmission of motion trajectory information by the motion control algorithm.

[0070] Each motion control task MCT created in step S1 has been assigned a unique ID number. By calling the MCT operation interface and passing in the corresponding ID, the algorithm installed on the MCT can be executed. In actual development, the operating conditions and times of different MCTs are different. Therefore, in order to ensure that the data processed by the algorithm is transmitted reasonably, the execution order of different MCTs needs to be determined according to the actual situation of the entire motion control solution: each MCT can be executed in the order of the MCT ID number from small to large, or from large to small, or in other appropriate logical order. Figure 1 The five MCTs shown (instruction reading, curvature estimation, velocity planning, interpolation, and output) have been assigned IDs M1, M2, M3, M4, and M5, respectively. The MCTs can be executed in the order of M1->M2->M3->M4->M5, or in the order of M1->M5->M2->M3->M4.

[0071] That is to say, in the specific implementation process, this embodiment can first create a motion control task MCT for the motion control algorithm through step S1, and then connect each motion control task MCT through step S2 to obtain the corresponding motion control scheme; finally, through step S3, execute each motion control task MCT in an appropriate logical order to realize the motion control algorithm's data processing and data transmission of motion trajectory information.

[0072] Example 2

[0073] Based on the same inventive concept as Example 1, this embodiment proposes a motion control algorithm framework design system for CNC machine tools and industrial robot control systems, including:

[0074] Motion control task creation module, used to create corresponding motion control tasks for the links of motion control algorithm;

[0075] The connection and transmission design module is used to design universal connection and transmission methods for data transfer between different motion control tasks;

[0076] The execution module is used to execute each motion control task in a suitable logical order, and realize the data processing and data transmission of motion trajectory information by the motion control algorithm;

[0077] The process of creating a motion control task by the motion control task creation module includes:

[0078] Create a blank motion control task;

[0079] Set motion parameters;

[0080] Create algorithm modules;

[0081] Combine and connect the output trajectory information of other motion control tasks to obtain the input trajectory information storage buffer of the current motion control task; and create the output trajectory information storage buffer of the current motion control task in an automatic generation manner;

[0082] The created algorithm module and input and output trajectory information storage buffer are installed into the blank motion control task, and the specific current motion control task is obtained by combining them.

[0083] The modules of the motion control algorithm framework design system provided in this embodiment are used to implement the corresponding steps of Example 1. The detailed process is not repeated here, please refer to Example 1.

[0084] Similarly, based on the same inventive concept as Example 1, this embodiment also provides a computer device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, the steps of the motion control algorithm framework design method provided in Example 1 are implemented.

[0085] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0086] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0087] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0088] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices, and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0089] The above is only a better / preferred embodiment of the invention of the present invention, but the scope of protection of the invention patent is not limited thereto. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A motion control algorithm framework design method, characterized in that: The following steps are involved: Create corresponding motion control tasks MCT as a unified model for different specific motion control algorithm links; Design universal connection and transmission methods for data transfer between different motion control tasks; Execute each motion control task in a suitable logical order to realize the data processing and data transmission of motion trajectory information by the motion control algorithm; The motion control algorithm is used to process the motion trajectory information through multiple algorithm links and then output it to the hardware device; the multiple algorithm links include instruction reading, curvature estimation, velocity planning, interpolation and output, and the motion trajectory information includes instructions, velocity, unit vector, length, velocity planning and output point; Each motion control task created for the motion control algorithm includes a storage buffer for input and output motion trajectory information, an algorithm module, and motion parameters, and serves as a carrier for combining the specific motion control algorithm, motion trajectory information before and after algorithm processing, and motion parameters; The creation of corresponding motion control tasks MCT as a unified model for different specific motion control algorithm links includes the following steps: Create a blank motion control task; Set motion parameters; the set motion parameters are designed in the motion control task MCT, and general control parameters are abstracted according to the motion control scenario; Create algorithm modules; Combine and connect the output trajectory information of other motion control tasks to obtain the input trajectory information storage buffer of the current motion control task; and create the output trajectory information storage buffer of the current motion control task in an automatic generation manner; Install the created algorithm module and input and output trajectory information storage buffer into the blank motion control task, and combine them to obtain the specific current motion control task; The algorithm module created and installed in the blank motion control task parses the basic trajectory segment information read from the input trajectory information storage buffer through the designed trajectory protocol mechanism. When creating the output trajectory information storage buffer of the current motion control task, a protocol address is assigned to each information on the basic trajectory segment. During parsing, the corresponding information is automatically extracted from the trajectory segment through the corresponding protocol address.

2. The motion control algorithm framework design method according to claim 1, characterized in that: The input trajectory information storage buffer and output trajectory information storage buffer of the current motion control task provide a unified representation for the data exchanged between motion control algorithms; the motion control algorithm processes each basic trajectory segment of the motion trajectory to be controlled one by one, and attributes the processed input and output data to the basic trajectory segment.

3. The motion control algorithm framework design method according to claim 2, characterized in that: When creating a storage buffer for the output trajectory information of a motion control task, the basic trajectory segment is used as the basic unit. By specifying the information and quantity to be output for a basic trajectory segment, the width of the storage area required to store the output information on a segment of the current motion control task is determined. The height of the storage area corresponds to the number of basic trajectory segments.

4. The motion control algorithm framework design method according to claim 1, characterized in that: The algorithm module created and installed into the blank motion control task reads the input trajectory information storage buffer and writes the output trajectory information storage buffer in a unified way; Taking the basic trajectory segment as the basic unit, the reading operation of the input trajectory information storage buffer includes: determining whether the input trajectory information storage buffer is empty, obtaining the current number of readable basic trajectory segments, reading a segment of trajectory information from the current reading position and updating the reading position, and reading a segment of basic trajectory information from any position within the readable range; The write operation to the output trajectory information storage buffer includes: determining whether the output trajectory information storage buffer is full, obtaining the number of basic trajectory segments currently written, writing a segment of basic trajectory information from the current writing position and updating the writing position, and writing, updating, or reading a segment of basic trajectory information from any position within the written range.

5. The motion control algorithm framework design method according to claim 1, characterized in that: For data transmission between different motion control tasks MCT, the combination and connection methods are designed; the designed connection methods include: one-to-one connection method, one-to-many connection method and many-to-one connection method; When transferring data between different motion control tasks MCT, the corresponding connection method is selected based on the data transfer needs of each algorithm link in the entire motion control solution.

6. A motion control algorithm framework design system, characterized in that: This is achieved based on the motion control algorithm framework design method according to any one of claims 1 to 5, and the system includes: Motion control task creation module, used to create corresponding motion control tasks for the links of motion control algorithm; The connection and transmission design module is used to design universal connection and transmission methods for data transfer between different motion control tasks; The execution module is used to execute each motion control task in a suitable logical order, and realize the data processing and data transmission of motion trajectory information by the motion control algorithm; The process of creating a motion control task by the motion control task creation module includes: Create a blank motion control task; Set motion parameters; Create algorithm modules; Combine and connect the output trajectory information of other motion control tasks to obtain the input trajectory information storage buffer of the current motion control task; and create the output trajectory information storage buffer of the current motion control task in an automatic generation manner; The created algorithm module and input and output trajectory information storage buffer are installed into the blank motion control task, and the specific current motion control task is obtained by combining them.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the motion control algorithm framework design method according to any one of claims 1 to 5 are implemented.

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