Real-time motion control system and method for CNC machine tools

Abstract

The real-time motion control system for CNC machine tools provided by the present disclosure includes an edge computing node and a field gateway controller; the edge computing node is deployed in a local PC and performs non-real-time communication with the field gateway controller to send a control instruction set consisting of multiple groups of control instructions to the field gateway controller and receive a motion position data set consisting of multiple motion position data of each axis of the machine tool to be processed, which is fed back by the underlying execution system and uploaded by the field gateway controller; the field gateway controller runs in a real-time operating system environment and is used to respectively perform non-real-time data communication tasks with the edge computing node and hard real-time interpolation control tasks for the underlying execution system, and is provided with a data sending synchronization area and a data uploading synchronization area for realizing data synchronization between the two control tasks. The real-time motion control system for CNC machine tools provided by the present disclosure overcomes the conflict between the amount of motion control calculation and the real-time performance of CNC machining, and is highly open and scalable.

Description

Technical Field

[0001] The present disclosure relates to the technical field of numerical control systems, and in particular to a real-time motion control system and method for a numerically controlled machine tool. Background Art

[0002] With the rapid integration of internet and manufacturing technologies, the interconnection and interoperability of processing equipment, such as CNC machine tools, has become a research hotspot in the manufacturing industry. The concept of networked CNC systems was proposed in this context. It aims to address the backward manufacturing situation of traditional closed, standalone CNC systems and enable data interoperability between processing equipment and on-site management. Fieldbus technology provides a high-speed data transmission channel for the implementation of networked CNC systems. Currently, the commonly used fieldbuses in CNC systems are primarily industrial Ethernet-based high-speed fieldbuses, such as EtherCAT, PROFINET, and SERCOS. These industrial Ethernet buses are improvements based on standard Ethernet protocols, but different industrial Ethernet buses are not compatible with each other. Standard Ethernet buses, which adhere to the TCP / IP protocol, are limited to non-real-time communication due to the communication uncertainty of the MAC layer, making them difficult to directly apply to industrial fields with high real-time performance requirements.

[0003] Although the transformation of information technology has greatly promoted the development of CNC systems, the existing networked CNC system architecture still has the following problems: (1) There is a conflict between the computational complexity of motion control algorithms and the real-time performance of CNC machining. In current CNC systems, motion controllers supported by real-time operating systems usually perform motion control algorithm calculations such as trajectory smoothing, velocity planning, and interpolation. In order to ensure real-time interpolation position control of the motor, the computational complexity of the motion control algorithm will be subject to certain restrictions, which will lead to a loss of machining accuracy. To address this problem, a feasible solution is to improve the computing power of the controller, but this will undoubtedly increase the cost of equipment use. (2) Dedicated network communication interfaces hinder the openness and scalability of CNC systems. Currently, the network communication between the CNC systems of major CNC manufacturers and industrial control computers mostly uses PCI standard expansion network cards or industrial Ethernet buses dedicated to each system. The industrial software developed by users is not compatible and can usually only run in a single CNC system.

[0004] Cloud CNC systems are a new type of CNC system proposed in recent years. They leverage next-generation information technologies such as cloud computing, introducing a cloud server platform based on a networked CNC system. Leveraging the powerful computing power of cloud servers, they enable cloud manufacturing service models such as remote machining management, resource allocation for machining processes, and digital twinning of process flows. Due to the poor real-time performance and unstable communication bandwidth of cloud servers, some traditional CNC systems struggle to connect directly to cloud servers. Edge computing technology offers a solution for implementing cloud CNC systems. The core concept of edge computing is to deploy edge computing nodes close to the manufacturing end as a buffer between the underlying CNC system and the cloud server. Process data preprocessing is performed at the edge computing nodes to reduce the communication burden on the cloud server platform and ensure the real-time performance of the overall architecture.

[0005] At present, the application of cloud technology in CNC systems still has certain limitations: (1) It is difficult to ensure real-time performance of cloud servers. At present, most cloud CNC system architectures only transfer non-real-time tasks of CNC systems to the cloud for processing, which cannot fully utilize the powerful computing performance of cloud servers. (2) In addition, although adding edge computing nodes close to the CNC system end can balance the computing power of cloud servers with the strong real-time performance of underlying CNC processing, and can also connect traditional CNC systems to the Internet or even cloud servers while maintaining the original CNC system architecture, the current dedicated edge computing controllers are expensive and have limited scalability. Summary of the Invention

[0006] The present disclosure aims to solve at least one of the technical problems existing in the prior art.

[0007] To this end, the real-time motion control system for CNC machine tools provided in the first aspect of the present disclosure overcomes the conflict between the amount of motion control calculations and the real-time performance of CNC machining by rationally scheduling the computing resources of the CNC system, and is highly open and scalable.

[0008] The first aspect of the present disclosure provides a real-time motion control system for a CNC machine tool, comprising an edge computing node and a field gateway controller;

[0009] The edge computing node is deployed in a local PC and includes a motion control module and a network management module, wherein: the motion control module includes a decoding submodule and a motion planning submodule, the decoding submodule is used to compile and interpret the input processing G code, and generate processing instructions according to the input data format required by the motion planning submodule, the motion planning submodule is used to generate a control instruction set based on the command flag and the interpolation point data set calculated according to the processing instruction, the command flag is an instruction set set by the operator before or during processing for speed adjustment and emergency stop of the underlying execution system, the control instruction set includes multiple groups of control instructions, each group of the control instructions includes a number of control data; the network management module is used to establish non-real-time communication between the edge computing node and the field gateway controller of the machine tool to be processed according to control requirements, and stores the IP address and communication port corresponding to each field gateway controller, the communication port is divided into a data sending port and a data uploading port, the network management module communicates control data with the field gateway controller via the data sending port, and sends one control instruction set each time the communication is made;

[0010] The field gateway controller operates in a real-time operating system environment and includes a non-real-time data communication module, a hard real-time interpolation control module, a data upload synchronization area, and a data downlink synchronization area. The non-real-time data communication module, during each non-real-time data communication control cycle, stores the received control instruction set in the data downlink synchronization area and merges multiple sets of motion position data in the data upload synchronization area into a motion position data set, which is then transmitted to the network management module via a data upload port. The hard real-time interpolation control module, during each hard real-time interpolation control cycle, extracts a set of control instructions from the data downlink synchronization area, pre-processes the interpolation point data based on the command flags therein, generates position control data for the hard real-time interpolation control cycle, and transmits the data to the underlying execution system via an industrial Ethernet bus. The module also receives a set of real-time motion positions of each machine tool motion axis returned by the underlying execution system and stores the data in the data upload synchronization area. The data write rate of the data downlink synchronization area is greater than its data read rate, and the data read rate of the data upload synchronization area is greater than its data write rate.

[0011] In some embodiments, the local PC on which the edge computing node is deployed runs in a non-real-time operating system environment and uses the TCP / IP protocol for data transmission with the field gateway controller, wherein the edge computing node acts as a communication client and applies to the corresponding communication server of the field gateway controller to establish a communication connection according to the IP address and communication port allocated in the network management module.

[0012] In some embodiments, each set of control instructions in the control instruction set generated by the motion planning submodule includes the following information:

[0013] The interpolation point instruction of the X-axis servo motor indicates the position that the X-axis is expected to reach in each interpolation cycle;

[0014] The interpolation point command of the Y-axis servo motor indicates the position that the Y-axis is expected to reach in each interpolation cycle;

[0015] The interpolation point instruction of the Z-axis servo motor indicates the position that the Z-axis is expected to reach in each interpolation cycle;

[0016] The interpolation point command of the A-axis servo motor indicates the position that the A-axis is expected to reach in each interpolation cycle;

[0017] The interpolation point command of the C-axis servo motor indicates the position that the C-axis is expected to reach in each interpolation cycle;

[0018] The ratio selection command flag indicates the ratio selection of the speed of each moving axis of the machine tool;

[0019] Emergency stop command flag, indicating the judgment selection of machine emergency stop;

[0020] Each set of motion position data uploaded by the field gateway controller to the network management module includes the following information:

[0021] The real-time position of the X-axis servo motor indicates the actual position reached by the X-axis in each interpolation cycle;

[0022] The real-time position of the Y-axis servo motor indicates the actual position reached by the Y-axis in each interpolation cycle;

[0023] The real-time position of the Z-axis servo motor indicates the actual position reached by the Z-axis in each interpolation cycle;

[0024] The real-time position of the A-axis servo motor indicates the actual position reached by the A-axis in each interpolation cycle;

[0025] The real-time position of the C-axis servo motor indicates the actual position reached by the C-axis in each interpolation cycle.

[0026] In some embodiments, the local PC where the edge computing node is deployed is further provided with a human-machine interface connected to the motion control module and the network management module.

[0027] In some embodiments, the method for implementing data synchronization by the field gateway controller includes:

[0028] Step a1: Establish two first-in-first-out data synchronization queues, one as the data downlink synchronization area and the other as the data uplink synchronization area. Assume that the total number of control data contained in a set of control instructions issued by the edge computing node is n1, the total number of motion position data uploaded by the field gateway controller is n2, and the theoretical value and actual value of the non-real-time communication cycle between the edge computing node and the field gateway controller are T respectively. n and T nt The hard real-time data communication cycle between the field gateway controller and the underlying execution system is T r , then the number of control instruction groups m1 contained in a single control instruction set and the number of motion position data groups m2 contained in a single motion position data set are: m1 = m2 = T n / T r , the storage size d1 of the data sending synchronization area and the single communication data volume s1 during the data sending process between the edge computing node and the field gateway controller are: d1=s1=in1m1, the storage size d2 of the data uploading synchronization area and the single communication data volume s2 during the data uploading process between the edge computing node and the field gateway controller are: d2=s2=in2m2;

[0029] Based on the non-real-time nature of TCP communication, let T n ∈(T min ,T max -Δt), T nt ∈(T n -T r ,T n ), where T min is the minimum value of the non-real-time communication cycle between the edge computing node and the field gateway controller. According to the requirement that the data sent by the edge computing node at least meets the data requirement of the hard real-time interpolation control module for two interpolation controls, let T min Take 2T r ; Δt is the maximum communication delay of TCP, T max T is the maximum value of the non-real-time communication cycle between the edge computing node and the field gateway controller. It is set according to the requirement that the amount of data in a single communication does not exceed the maximum transmission unit of TCP communication. max , the calculation formula is as follows:

[0030]

[0031] Step a2: When the edge computing node sends a control instruction set to the field gateway controller, the non-real-time data communication module detects whether there is space in the data sending synchronization area. If there is space, the m1 group of control instructions in the control instruction set sent are written in sequence according to the data writing rate v1, and one group of control instructions is written each time until the data sending synchronization area is full. Then, the data sending port of the edge computing node and the field gateway controller is blocked until the hard real-time interpolation control module reads the data at the data reading rate v1. 11 Extract a set of control instructions from the data delivery synchronization area, and the hard real-time interpolation control module pre-processes the extracted set of control instructions to generate a set of position control data and transmits it to the underlying execution system through the industrial Ethernet bus; Among them, the data writing rate v1 and the data reading rate v 11 They are:

[0032]

[0033]

[0034] Step a3: During the processing, the servo driver of the bottom execution system feeds back the position information of the servo motor to the hard real-time interpolation control module of the field gateway controller in real time through the industrial Ethernet bus. The hard real-time interpolation control module organizes the position information of each servo motor in each interpolation cycle into a set of motion position data in the format of motion position data and detects whether there is free space in the data upload synchronization area. If there is free space, the set of motion position data is written at the data write rate v. 22 The data is put into the data upload synchronization area, and the non-real-time data communication module of the field gateway controller detects whether the data upload synchronization area is written. If there is no written data, it waits until the data upload synchronization area is detected to be written. If there is written data, a group of motion position data is read according to the data reading rate v2. When the number of groups read reaches the scale n2 of the motion position data set, the multiple groups of motion position data read are merged into one motion position data set and transmitted to the network management module of the edge computing node via the data upload port; wherein, the data write rate v2 of the data upload synchronization area is 100%. 22 And data reading rate v2 are:

[0035]

[0036]

[0037] In some embodiments, the preprocessing of the interpolation point data by the hard real-time interpolation control module includes:

[0038] The hard real-time interpolation control module extracts a set of control instructions from the data transmission synchronization area and reads the command flag therein; if the command flag determines that an emergency stop is to be executed, a pre-set motor stop instruction is executed; if the command flag determines that a speed ratio adjustment is to be executed, the interpolation point value of each motion axis is multiplied by the corresponding speed ratio according to the data of the speed ratio selection flag.

[0039] In some embodiments, the real-time motion control system further comprises a cloud server communicating with the edge computing node, the cloud server comprising a processing technology management module, a processing simulation module, and a processing process detection module;

[0040] The processing technology management module supports inputting processing G codes or calling processing G codes stored in the cloud server;

[0041] The processing simulation module is used to simulate and analyze the processing G code before processing, generate a motion simulation model of the underlying execution system according to the set motion planning algorithm, including simulation information such as the speed and acceleration of the motion process, and obtain an interpolation point data set for controlling the underlying execution system;

[0042] The processing process detection module is used to display the processing motion process in the corresponding motion simulation model according to the motion position data set of the underlying execution system transmitted by the edge computing node.

[0043] In some embodiments, the cloud server communicates with the edge computing node via the ModBus protocol.

[0044] A second aspect of the present disclosure provides a real-time motion control method for a CNC machine tool, comprising:

[0045] S1. Input the machining G code and the command flag for controlling speed ratio adjustment and emergency stop into the edge computing node, select the machine tool to be processed, call the computing resources of the edge computing node to perform decoding and analysis, trajectory smoothing, speed planning and interpolation calculation to generate an interpolation point data set for controlling the underlying execution system, and generate a control instruction set based on the interpolation point data set and the command flag. The control instruction set contains several groups of control instructions, each group of control instructions consists of multiple control data;

[0046] S2. The edge computing node applies to the corresponding field gateway controller for establishing non-real-time communication according to the IP address and port number corresponding to the selected machine tool to be processed. Specifically, the edge computing node sends a control instruction set to the field gateway controller through the data sending port;

[0047] S3. After receiving the control instruction set, the field gateway controller stores it in a data delivery synchronization area within the field gateway controller. Each set of control instructions is sequentially extracted from the data delivery synchronization area according to a hard real-time interpolation control cycle. Each set of control instructions is pre-processed to generate final position control data, which is then delivered to the underlying execution system via a real-time communication port. The data write rate of the data delivery synchronization area is greater than its data read rate.

[0048] S4. The servo driver of the underlying execution system receives the position control data of the cycle in a communication cycle with the field gateway controller, thereby controlling the movement of the servo motor and uploading the corresponding real-time motion position of the servo motor to the data upload synchronization area in the field gateway controller via the real-time communication port. The field gateway controller forms a motion position data set with the stored set number of real-time motion position data through the buffer of the data upload synchronization area, and transmits it to the edge computing node via the data upload port. The data reading rate of the data upload synchronization area is greater than its data writing rate.

[0049] In some embodiments, the real-time motion control method further comprises:

[0050] Communication between the edge computing node and the cloud server is established through the ModBus protocol, and the cloud server is used for processing technology management, processing simulation and processing process detection; among them, processing technology management is used to input processing G code or call the processing G code stored in the cloud server; processing simulation is used to simulate and analyze the processing G code before processing, and generate a motion simulation model of the underlying execution system according to the set motion planning algorithm, which includes simulation information including the speed and acceleration of the motion process, and obtains the interpolation point data set for controlling the underlying execution system; processing process detection is used to display the processing motion process in the corresponding simulation model based on the motion position data set of the underlying execution system uploaded by the edge computing node.

[0051] The present disclosure has the following features and beneficial effects:

[0052] The real-time motion control system and method for CNC machine tools proposed in the present disclosure deploy edge computing nodes on local PCs, making it easier to optimize motion control algorithms while reducing reliance on dedicated edge computing hardware, thereby reducing the overall cost of the system. Furthermore, the communication between the edge computing node and the gateway controller uses a standard Ethernet protocol, eliminating the need for dedicated network communication equipment. A single edge computing node PC can simultaneously control multiple gateway controllers, giving the CNC system excellent openness, scalability, and interchangeability. Furthermore, the real-time motion control system for CNC machines proposed in the present disclosure has the ability to communicate with cloud servers and can rationally schedule cloud-edge-end computing resources based on an edge-cloud collaborative solution. It can directly generate CNC machining motion trajectories and interpolation points on a local PC or cloud server, significantly reducing the computational workload of the underlying motion controller and reducing the demand for its computing performance. Furthermore, through the design of the data synchronization area in the on-site gateway controller, the system can achieve strong computing power while also taking into account the strong real-time requirements of the underlying motion control, realizing cloud-edge-end collaborative CNC machining motion control and proposing a feasible implementation solution for intelligent CNC systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of the architecture of a real-time motion control system for a CNC machine tool provided in accordance with an embodiment of the first aspect of the present disclosure.

[0054] Figure 2 This is a workflow diagram of the data synchronization area of ​​the field gateway controller in the control system provided by the first aspect of the present disclosure.

[0055] Figure 3 A flowchart of a real-time motion control method for a CNC machine tool provided in accordance with an embodiment of the second aspect of the present disclosure. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0057] On the contrary, this application covers any alternatives, modifications, equivalents, and solutions made within the spirit and scope of this application as defined by the claims. Furthermore, to facilitate a better understanding of this application, certain specific details are described in detail below in the detailed description of this application. Those skilled in the art will be able to fully understand this application without these details.

[0058] See also Figure 1 The real-time motion control system for a CNC machine tool provided by the first embodiment of the present disclosure includes an edge computing node and a field gateway controller, wherein:

[0059] The edge computing node is deployed in a local PC and includes a network management module and a motion control module; the network management module includes a local network management submodule, which is used to establish non-real-time communication between the edge computing node PC and the field gateway controller of the machine tool to be processed according to control requirements, and stores the IP address and communication port corresponding to each field gateway controller. The communication port corresponding to each field gateway controller is divided into a data sending port and a data uploading port; the motion control module includes a decoding submodule and a motion planning submodule. The decoding submodule is used to compile and interpret the input processing G code and generate processing instructions according to the input data format required by the motion planning submodule. The motion planning submodule is used to generate a control instruction set from the command flag and the interpolation point data set calculated according to the processing instruction. The command flag is an instruction set set by the operator before or during processing for speed adjustment and emergency stop of the underlying execution system. The control instruction set includes multiple groups of control instructions, each group of control instructions includes several control data, and the edge computing node communicates control data with the field gateway controller via the data sending port, and sends a control instruction set each time the communication is made;

[0060] The field gateway controller, operating in a real-time operating system environment, includes a non-real-time data communication module for executing non-real-time data communication tasks with edge computing nodes, a hard real-time interpolation control module for executing hard real-time interpolation control tasks for an underlying execution system, and a data downlink synchronization area and a data upload synchronization area for achieving data synchronization between different control cycles of the non-real-time data communication module and the hard real-time interpolation control module. During each non-real-time data communication control cycle, the non-real-time data communication module stores a received control instruction set in the data downlink synchronization area and combines multiple sets of motion position data in the data upload synchronization area into a single motion position data set, which is then transmitted to the local network management submodule of the edge computing node via a data upload port. During each hard real-time interpolation control cycle, the hard real-time interpolation control module extracts a set of control instructions from the data downlink synchronization area, pre-processes the interpolation point data based on the command flags therein, generates position control data for the hard real-time interpolation control cycle, and transmits the data to the underlying execution system via an industrial Ethernet bus. Simultaneously, the field gateway controller receives a set of real-time motion positions of each motion axis returned by the underlying execution system and stores the data in the data upload synchronization area.

[0061] In some embodiments, the underlying execution system includes multiple sets of servo drives, encoders, and servo motors to drive the movement of each motion axis of the machine tool. Figure 1 The diagram shows 5 groups of servo drives and encoders (the encoder is in Figure 1The servo motors (not shown) are used to drive the movement of the X-axis, Y-axis, Z-axis, A-axis and C-axis of the machine tool respectively.

[0062] In some embodiments, the local PC where the edge computing node is deployed runs in a non-real-time operating system environment such as Window or Linux, and uses the standard TCP / IP protocol for data transmission with the field gateway controller. The edge computing node PC acts as a communication client and applies to the communication server of the corresponding field gateway controller to establish a communication connection according to the IP address and port allocated in the local network management submodule.

[0063] In some embodiments, the basic information contained in each set of control instructions generated by the motion planning submodule in the local PC of the edge computing node is as follows:

[0064] The interpolation point instruction of the X-axis servo motor indicates the position that the X-axis is expected to reach in each interpolation cycle;

[0065] The interpolation point command of the Y-axis servo motor indicates the position that the Y-axis is expected to reach in each interpolation cycle;

[0066] The interpolation point instruction of the Z-axis servo motor indicates the position that the Z-axis is expected to reach in each interpolation cycle;

[0067] The interpolation point command of the A-axis servo motor indicates the position that the A-axis is expected to reach in each interpolation cycle;

[0068] The interpolation point command of the C-axis servo motor indicates the position that the C-axis is expected to reach in each interpolation cycle;

[0069] The ratio selection command flag indicates the ratio selection of the speed of each moving axis of the machine tool;

[0070] The emergency stop command flag indicates the judgment selection of the machine tool emergency stop.

[0071] In some embodiments, the local PC where the edge computing node is deployed is also provided with a human-machine interface HMI connected to the motion control module and the network management module. The operator can select the machine tool to be processed and the corresponding IP address through the input device, select the G-code file to be processed (by clicking the mouse) and enter the command flag and other parameters (by keyboard input). The motion control module generates a control instruction set based on the command flag and the interpolation point data set.

[0072] In some embodiments, a set of position control data sent by the field gateway controller to the underlying execution system corresponds to a set of control instructions, and includes the following basic information:

[0073] The interpolation point instruction after preprocessing of the X-axis servo motor indicates the position that the X-axis is expected to reach after preprocessing in each interpolation cycle (that is, the expected position is multiplied by the speed multiplier or the emergency stop command is executed instead of directly executing the expected position in the original control instruction);

[0074] The interpolation point instruction after preprocessing of the Y-axis servo motor indicates the position that the Y-axis is expected to reach after preprocessing in each interpolation cycle;

[0075] The interpolation point instruction after preprocessing of the Z-axis servo motor indicates the position that the Z-axis is expected to reach after preprocessing in each interpolation cycle;

[0076] The interpolation point instruction after preprocessing of the A-axis servo motor indicates the position that the A-axis is expected to reach after preprocessing in each interpolation cycle;

[0077] The basic information of a set of motion position data uploaded by the field gateway controller to the network management module of the edge computing node includes the following:

[0078] The real-time position of the X-axis servo motor indicates the actual position reached by the X-axis in each interpolation cycle;

[0079] The real-time position of the Y-axis servo motor indicates the actual position reached by the Y-axis in each interpolation cycle;

[0080] The real-time position of the Z-axis servo motor indicates the actual position reached by the Z-axis in each interpolation cycle;

[0081] The real-time position of the A-axis servo motor indicates the actual position reached by the A-axis in each interpolation cycle;

[0082] The real-time position of the C-axis servo motor indicates the actual position reached by the C-axis in each interpolation cycle.

[0083] In some embodiments, the field gateway controller runs in a real-time operating system environment such as UCOS or RTOS. The field gateway controller uses the EtherCAT bus to connect to the underlying execution system through network port 1 for real-time data exchange. The field gateway controller uses the standard TCP / IP protocol and exchanges non-real-time data with the edge computing node through network port 2.

[0084] In some embodiments, the data synchronization area and data interaction implementation method of the field gateway controller are shown in Figure 2 The specific principle is:

[0085] Step a1. Establish two first-in-first-out data synchronization queues FIFO as the data sending synchronization area and the data uploading synchronization area respectively. The data stored in the data sending synchronization area and the data uploading synchronization area are stipulated to be of the same data type, that is, the type of each data in the control instruction set and the motion position data set is of the same type. The storage space occupied by a data of this type is i (unit: Byte). The optional data types usually include ordinary integer int type (i=4Byte), floating point float type (i=4Byte) and double precision floating point double type (i=8Byte). Assume that the total number of control data contained in a set of control instructions issued by the edge computing node is n1, the total number of motion position data uploaded by the field gateway controller is n2, and the theoretical value of the non-real-time communication cycle between the edge computing node and the field gateway controller is T n (Unit: ms, the data transmission and data upload communication cycles between the edge computing node and the field gateway controller are both T n ms), the actual value of the non-real-time communication cycle between the edge computing node and the field gateway controller is T nt The theoretical value of the hard real-time data communication cycle between the field gateway controller and the underlying execution system is T r (Unit: ms), the calculation method of the number of control instruction groups m1 contained in the control instruction set and the number of motion position data groups m2 contained in the motion position data set is shown in formula (1):

[0086]

[0087] The calculation method of the storage size d1 (unit: Byte) of the data sending synchronization area and the storage size d2 (unit: Byte) of the data uploading synchronization area is shown in formula (2):

[0088]

[0089] During the data transmission process between the edge computing node and the field gateway controller, the calculation method of the single communication data volume s1 (unit: Byte) is shown in formula (3):

[0090] s1=in1m1 (3)

[0091] Similarly, the calculation method for the single communication data volume s2 (unit: Byte) during the data upload process between the edge computing node and the field gateway controller is shown in formula (4):

[0092] s2=in2m2 (4)

[0093] Considering that the maximum transmission unit of standard TCP protocol communication is 1500Byte, if the data volume of a single communication exceeds this maximum value, the TCP protocol will split the single communication data before sending it. In order to ensure the communication quality, it is necessary to avoid data splitting, that is, to ensure that the data volume of a single communication does not exceed the maximum transmission unit of TCP communication. Substituting into formula (3) and formula (4) to obtain the non-real-time communication period T between the edge computing node and the field gateway controller n The maximum value T max As shown in formula (5):

[0094]

[0095] To ensure the continuity of hard real-time interpolation control data, the data sent by the edge computing node at one time must at least meet the data requirements of the hard real-time interpolation control module for two interpolation controls. That is, at least two sets of control instructions are required:

[0096] in1m1≥2in1 (6)

[0097] Substituting formula (6) into formula (1), we can get T n The minimum value T min 2T r Since the TCP protocol cannot guarantee real-time communication, there is usually a communication delay of 1-10ms. n The allowed value range is (T min ,T max -10). In the actual system communication design process, the hard real-time data communication cycle between the field gateway controller and the underlying execution system is first set to T r The accuracy of the communication cycle depends on the maximum clock frequency that the selected field gateway controller can generate, which can usually reach the 0.1ms level. Then, according to the actual control requirements, the total number n1 of control data contained in a set of control instructions issued by the edge computing node and the total number n2 of motion position data uploaded by the field gateway controller are set. According to formulas (5) and (6), the non-real-time communication cycle T between the edge computing node and the field gateway controller is calculated. n The allowed value range of T is selected within this range. n , according to formula (1) and the selected T n The number of control instruction groups m1 contained in the control instruction set and the number of motion position data groups m2 contained in the motion position data set are calculated. Substituting m1 and m2 into formula (2) to calculate the storage size d1 of the data sending synchronization area and the storage size d2 of the data uploading synchronization area. Due to the non-real-time nature of TCP communication and the different communication delays in different environments, the actual value of the non-real-time communication cycle T between the edge computing node and the field gateway controller is nt Usually compared with the theoretical value Tn There is a deviation, so it is necessary to conduct a communication pre-experiment and dynamically adjust the actual value T of the non-real-time communication cycle between the edge computing node and the field gateway controller according to the experimental measurement results. nt , if the measured value is greater than the theoretical value T n , it means that the communication quality is poor and cannot meet the current data communication needs, so it is necessary to reduce n1 and n2 or increase T r In order to reduce the total amount of communication data, redesign the data synchronization area according to the adjusted results and conduct a communication pre-experiment; if the measured value is less than T n , then add a timer in the TCP client of the edge computing node PC to make the actual value of the non-real-time communication cycle T nt In (T n -T r ,T n ) range.

[0098] In step a2, a control instruction set is issued in a data transmission communication between the edge computing node and the field gateway controller. The non-real-time data communication module of the field gateway controller detects whether there is vacancy in the data transmission synchronization area. If there is vacancy, the m1 groups of control instructions in the issued control instruction set are written in sequence. One group of control instructions is written each time. Therefore, the data transmission rate between the edge computing node and the field gateway controller, that is, the data writing rate v1 (unit: Byte / ms) of the data transmission synchronization area, is calculated as shown in formula (7):

[0099]

[0100] The hard real-time interpolation control module of the field gateway controller extracts a set of control instructions from the data synchronization area in each hard real-time cycle, generates a set of position control data after preprocessing, and transmits it to the underlying execution system through the industrial Ethernet bus. Therefore, the data reading rate of the data synchronization area is v 11 (Unit: Byte / ms) The calculation method is shown in formula (8):

[0101]

[0102] From step a1, we can know that the actual value of the non-real-time communication cycle between the edge computing node and the field gateway controller is T nt Always slightly smaller than the theoretical value T n According to formula (7) and formula (8), the write rate v1 of the data synchronization area is always greater than the read rate v 11, the data sending synchronization area is usually in a full state, that is, there are always control instructions to be read in the data sending synchronization area, thus ensuring the continuity of interpolation control, that is, the servo motor position control of the underlying execution system. In addition, since the data sending synchronization area is usually in a full state, the data sending port of the edge computing node and the field gateway controller will be in a blocked state until the hard real-time interpolation control module extracts a set of control instructions from the data sending synchronization area. According to the TCP blocking mechanism, when the data sending port is blocked, the control data to be sent will not be lost. As can be seen from step a1, the actual period value T of the non-real-time communication cycle nt The value range is (T n -T r ,T n ), the write rate of the data synchronization area is only slightly higher than the read rate, and the TCP communication congestion time does not exceed the maximum response time of TCP communication. In summary, the TCP communication congestion mechanism and the buffering of the data synchronization area ensure the continuity and integrity of control data and convert a single non-real-time control instruction set into multiple sets of real-time control instructions;

[0103] Step a3: During the processing, the servo driver of the bottom execution system feeds back the position information of the servo motor to the hard real-time interpolation control module of the field gateway controller via the industrial Ethernet bus in real time during a hard real-time communication process. The hard real-time interpolation control module organizes the position information of each motor in the interpolation cycle into a set of motion position data according to the format of motion position data and detects whether there is free space in the data upload synchronization area. If there is free space, the set of motion position data is placed in the data upload synchronization area. Therefore, the data write rate v of the data upload synchronization area is 10000. 22 (Unit: Byte / ms) The calculation method is shown in formula (9):

[0104]

[0105] The non-real-time data communication module of the field gateway controller detects whether data is written to the data upload synchronization area during each non-real-time communication cycle. If no data is written, it waits until it detects that motion position data is written to the data upload synchronization area. If there is written motion position data, it reads a set of motion position data. When the number of groups read reaches the size of the motion position data set, that is, n2, the multiple groups of motion position data read are merged into a motion position data set and sent to the network management module of the edge computing node via the data upload port. Otherwise, it continues to detect whether there is motion position data written to the data upload synchronization area. The data upload rate between the field gateway controller and the edge computing node, that is, the data read rate v2 (unit: Byte / ms) of the data upload synchronization area, is calculated as shown in formula (10):

[0106]

[0107] In the hard real-time communication cycle, the hard real-time interpolation control module will detect whether there is space in the data upload synchronization area. If there is no space, the motor position information received in the interpolation cycle will be lost. In the actual communication process, it can be seen from step a1 that the actual value T of the non-real-time communication cycle between the edge computing node and the field gateway controller is nt Always slightly smaller than the theoretical value T n According to formula (9) and formula (10), the data read rate v2 of the data upload synchronization area is always greater than the data write rate v 22 Therefore, the data upload synchronization area is usually in an empty state, that is, the motor position information uploaded by the hard real-time interpolation control module will not be lost.

[0108] In one embodiment, the field gateway controller uses the STM32F407 series main control chip, which supports a maximum clock frequency of 168MHz. It is stipulated that the data stored in the data sending synchronization area and the data uploading synchronization area are both integer types, i=4Byte, and the hard real-time data communication cycle between the field gateway controller and the underlying execution system is set to T r The total number of control data n1 contained in a set of control instructions issued by the edge computing node is set to 7 (interpolation point instructions of the servo motors of the 5 motion axes and 2 two control command flags), and the total number of motion position data n2 uploaded by the field gateway controller is 5 (real-time position data of the servo motors of the 5 motion axes). In order to expand the subsequent control instructions and motion feedback data and simplify the calculation process, n1 and n2 are uniformly taken as 8 (position fill-in data exceeding the original set number). The non-real-time communication period T between the edge computing node and the field gateway controller is calculated according to formula (5) and formula (6): n The allowed value range is (2.00ms, 36.88ms). Select T within this range. n The time taken for the non-real-time communication cycle is 20 ms. According to formula (1), the number of control instruction groups m1 in the control instruction set is 20, and the number of motion position data groups m2 in the motion position data set is 20. Substituting this into formula (2), the storage size d1 of the data downlink synchronization area is 640 bytes, and the storage size d2 of the data uplink synchronization area is 640 bytes. The results of the non-real-time communication cycle at this time measured by the communication pre-experiment are shown in Table 1.

[0109] Table 1 Communication pre-experiment non-real-time communication cycle measurement table

[0110]

[0111] As can be seen from Table 1, the non-real-time communication cycle at this time is much smaller than the actual setting and much smaller than the non-real-time communication cycle T nTherefore, a timer is added to the TCP client of the edge computing node PC to dynamically adjust the actual value of the non-real-time communication cycle to make it close to T n ,The results of the non-real-time communication cycle measured after adjustment are shown in Table 2.

[0112] Table 2 Non-real-time communication cycle measurement table after adding timer

[0113]

[0114]

[0115] As can be seen from Table 2, the actual value of the adjusted non-real-time communication cycle T nt In (T n -T r ,T n ) is within the range of (19ms, 20ms). This establishes the data synchronization area of ​​the field gateway controller. Following steps a2 and a3, data interaction between the edge computing node, the field gateway controller, and the underlying execution system can be achieved.

[0116] In some embodiments, the pre-processing of the interpolation point data by the hard real-time interpolation control module includes:

[0117] The hard real-time interpolation control module extracts a set of control instructions from the data delivery synchronization area and reads the command flag bits therein;

[0118] If the emergency stop is determined according to the command flag, the pre-set motor stop command will be executed;

[0119] If the speed magnification adjustment is performed according to the command flag, the interpolation point value of each motion axis is multiplied by the corresponding speed magnification according to the data of the speed magnification selection flag.

[0120] In some embodiments, the servo drive of the underlying execution system needs to support industrial Ethernet bus communication methods such as EtherCAT and have corresponding communication physical interfaces.

[0121] In some embodiments, the real-time motion control system of the CNC machine tool provided in the first aspect of the present disclosure can also be expanded to access the cloud server, and a cloud network management submodule is added to the network management module of the edge computing node, and the cloud network management submodule uses the ModBus protocol to communicate data with the cloud server. The cloud server has a processing technology management module, a processing simulation module and a processing process detection module, etc., wherein the processing technology management module supports the input of processing G code or the call of processing G code stored in the cloud server. The processing simulation module is used to simulate and analyze the processing G code before processing, and generate a motion simulation model of the underlying execution system according to the set motion planning algorithm, which includes simulation information such as the speed and acceleration of the motion process, and obtains the interpolation point data set for controlling the underlying execution system. The processing process detection module is used to display the processing motion process in the corresponding simulation model according to the real-time motion position of the underlying execution system uploaded by the edge computing node, and can observe the current processing progress and processing abnormality information.

[0122] The real-time motion control method of a CNC machine tool provided in the second embodiment of the present disclosure is as follows: Figure 3 ,include:

[0123] S1. Input the machining G code and the command flag for controlling speed ratio adjustment and emergency stop into the edge computing node PC, select the machine tool to be processed, call the computing resources of the edge computing node to perform decoding analysis, trajectory smoothing, speed planning and interpolation calculation to generate an interpolation point data set for controlling the underlying execution system, and generate a control instruction set based on the interpolation point data set and the command flag. The control instruction set contains several groups of control instructions, each of which consists of multiple control data.

[0124] S2. The edge computing node applies to the corresponding field gateway controller for TCP communication based on the IP address and port number corresponding to the selected machine tool to be processed. This includes the communication of sending control data and uploading the motion position of each axis of the machine tool to be processed. The edge computing node sends a control instruction set to the field gateway controller through the data sending port.

[0125] S3. After receiving the control instruction set, the field gateway controller stores it in a data transmission synchronization area within the field gateway controller. Each set of control instructions is sequentially extracted according to the hard real-time interpolation control cycle, and each set of control instructions is pre-processed to generate final position control data. The final position control data is then transmitted to the underlying execution system via the real-time communication port. The data writing rate of the data transmission synchronization area is greater than its data reading rate.

[0126] S4. The servo driver of the underlying execution system receives the position control data of the cycle during a communication process with the field gateway controller, thereby controlling the movement of the servo motor and uploading the corresponding real-time position of the servo motor to the field gateway controller via the real-time communication port. The field gateway controller uses the buffer of the data upload synchronization area to send the stored motion position data set to the edge computing node via the data upload port. The data reading rate of the data upload synchronization area is greater than its data writing rate.

[0127] In some embodiments, the real-time motion control method provided in the second aspect of the present disclosure further includes:

[0128] Data communication is established between the edge computing node and the cloud server via the ModBus protocol, and the cloud server is used for processing technology management, processing simulation, and processing process detection. Processing technology management is used to input processing G codes or call processing G codes stored in the cloud server. Processing simulation is used to simulate and analyze the processing G codes before processing, and generate a motion simulation model of the underlying execution system based on the set motion planning algorithm, which includes simulation information such as the speed and acceleration of the motion process, and obtains an interpolation point data set for controlling the underlying execution system. Processing process detection is used to display the processing motion process in the corresponding simulation model based on the real-time motion position of the underlying execution system uploaded by the edge computing node, and can observe the current processing progress and processing abnormality information. The edge computing node uploads the received motion position data set to the cloud server, and the cloud server updates the motion position displayed in the simulation model based on the motion position data.

[0129] Furthermore, in step S1, the cloud server can send the processing G code to the edge computing node.

[0130] Furthermore, in step S1, the cloud server can directly perform G-code decoding and parsing, motion planning, and interpolation calculations, generating an interpolation point dataset and transmitting it to the edge computing node PC. The edge computing node PC then combines this interpolation point dataset with the set command flags to form a control instruction set. This control process enables the deployment of more computationally demanding motion planning algorithms on the cloud server to obtain more accurate interpolation point calculation results and display the motion simulation results of the G-code machining in the simulation model. This improves the computing power of real-time motion control for CNC machine tools.

[0131] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0132] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A real-time motion control system for a CNC machine tool, characterized in that: Includes edge computing nodes and field gateway controllers; The edge computing node is deployed in a local PC and includes a motion control module and a network management module, wherein: the motion control module includes a decoding submodule and a motion planning submodule, the decoding submodule is used to compile and interpret the input processing G code, and generate processing instructions according to the input data format required by the motion planning submodule, the motion planning submodule is used to generate a control instruction set based on the command flag and the interpolation point data set calculated according to the processing instruction, the command flag is an instruction set set by the operator before or during processing for speed adjustment and emergency stop of the underlying execution system, the control instruction set includes multiple groups of control instructions, each group of the control instructions includes a number of control data; the network management module is used to establish non-real-time communication between the edge computing node and the field gateway controller of the machine tool to be processed according to control requirements, and stores the IP address and communication port corresponding to each field gateway controller, the communication port is divided into a data sending port and a data uploading port, the network management module communicates control data with the field gateway controller via the data sending port, and sends one control instruction set each time the communication is made; The field gateway controller operates in a real-time operating system environment and includes a non-real-time data communication module, a hard real-time interpolation control module, a data upload synchronization area, and a data downlink synchronization area. The non-real-time data communication module, during each non-real-time data communication control cycle, stores the received control instruction set in the data downlink synchronization area and merges multiple sets of motion position data in the data upload synchronization area into a motion position data set, which is then transmitted to the network management module via a data upload port. The hard real-time interpolation control module, during each hard real-time interpolation control cycle, extracts a set of control instructions from the data downlink synchronization area, pre-processes the interpolation point data based on the command flags therein, generates position control data for the hard real-time interpolation control cycle, and transmits the data to the underlying execution system via an industrial Ethernet bus. The module also receives a set of real-time motion positions of each machine tool axis returned by the underlying execution system and stores the real-time motion positions in the data upload synchronization area. The data write rate of the data downlink synchronization area is greater than its data read rate, and the data read rate of the data upload synchronization area is greater than its data write rate. The method for implementing data synchronization by the field gateway controller includes: Step a1: Establish two first-in-first-out data synchronization queues, one as the data downlink synchronization area and the other as the data uplink synchronization area. Assume that the total number of control data contained in a set of control instructions issued by the edge computing node is n1, the total number of motion position data uploaded by the field gateway controller is n2, and the theoretical value and actual value of the non-real-time communication cycle between the edge computing node and the field gateway controller are T respectively. n and T nt The hard real-time data communication cycle between the field gateway controller and the underlying execution system is T r , then the number of control instruction groups m1 contained in a single control instruction set and the number of motion position data groups m2 contained in a single motion position data set are: m1 = m2 = T n / T r The storage size d1 of the data downlink synchronization area and the single communication data volume s1 during the data downlink process between the edge computing node and the field gateway controller are: d1 = s1 = in1m1, the storage size d2 of the data uplink synchronization area and the single communication data volume s2 during the data uplink process between the edge computing node and the field gateway controller are: d2 = s2 = in2m2; i is the storage space occupied by each data in the control instruction set and motion position data set; Based on the non-real-time nature of TCP communication, let T n ∈(T min ,T max -Δt), T nt ∈(T n -T r ,T n ), where T min is the minimum value of the non-real-time communication cycle between the edge computing node and the field gateway controller. According to the requirement that the data sent by the edge computing node at least meets the data requirement of the hard real-time interpolation control module for two interpolation controls, let T min Take 2T r ; Δt is the maximum communication delay of TCP, T max T is the maximum value of the non-real-time communication cycle between the edge computing node and the field gateway controller. It is set according to the requirement that the amount of data in a single communication does not exceed the maximum transmission unit of TCP communication 1500Byte. max , the calculation formula is as follows: Step a2: When the edge computing node sends a control instruction set to the field gateway controller, the non-real-time data communication module detects whether there is space in the data sending synchronization area. If there is space, the m1 group of control instructions in the control instruction set sent are written in sequence according to the data writing rate v1, and one group of control instructions is written each time until the data sending synchronization area is full. Then, the data sending port of the edge computing node and the field gateway controller is blocked until the hard real-time interpolation control module reads the data at the data reading rate v1. 11 Extract a set of control instructions from the data delivery synchronization area, and the hard real-time interpolation control module pre-processes the extracted set of control instructions to generate a set of position control data and transmits it to the underlying execution system through the industrial Ethernet bus; Among them, the data writing rate v1 and the data reading rate v 11 They are: Step a3: During the processing, the servo driver of the bottom execution system feeds back the position information of the servo motor to the hard real-time interpolation control module of the field gateway controller in real time through the industrial Ethernet bus. The hard real-time interpolation control module organizes the position information of each servo motor in each interpolation cycle into a set of motion position data in the format of motion position data and detects whether there is free space in the data upload synchronization area. If there is free space, the set of motion position data is written at the data write rate v. 22 The data is put into the data upload synchronization area, and the non-real-time data communication module of the field gateway controller detects whether the data upload synchronization area is written. If there is no written data, it waits until the data upload synchronization area is detected to be written. If there is written data, a group of motion position data is read according to the data reading rate v2. When the number of groups read reaches the scale n2 of the motion position data set, the multiple groups of motion position data read are merged into one motion position data set and transmitted to the network management module of the edge computing node via the data upload port; wherein, the data write rate v2 of the data upload synchronization area is 100%. 22 And data reading rate v2 are:

2. The real-time motion control system according to claim 1, characterized in that: The local PC where the edge computing node is deployed runs in a non-real-time operating system environment and uses the TCP / IP protocol for data transmission with the field gateway controller. The edge computing node acts as a communication client and applies to the corresponding communication server of the field gateway controller to establish a communication connection according to the IP address and communication port allocated in the network management module.

3. The real-time motion control system according to claim 1, characterized in that: Each set of control instructions generated by the motion planning submodule includes the following information: The interpolation point instruction of the X-axis servo motor indicates the position that the X-axis is expected to reach in each interpolation cycle; The interpolation point command of the Y-axis servo motor indicates the position that the Y-axis is expected to reach in each interpolation cycle; The interpolation point instruction of the Z-axis servo motor indicates the position that the Z-axis is expected to reach in each interpolation cycle; The interpolation point command of the A-axis servo motor indicates the position that the A-axis is expected to reach in each interpolation cycle; The interpolation point command of the C-axis servo motor indicates the position that the C-axis is expected to reach in each interpolation cycle; The ratio selection command flag indicates the ratio selection of the speed of each moving axis of the machine tool; Emergency stop command flag, indicating the judgment selection of machine emergency stop; Each set of motion position data uploaded by the field gateway controller to the network management module includes the following information: The real-time position of the X-axis servo motor indicates the actual position reached by the X-axis in each interpolation cycle; The real-time position of the Y-axis servo motor indicates the actual position reached by the Y-axis in each interpolation cycle; The real-time position of the Z-axis servo motor indicates the actual position reached by the Z-axis in each interpolation cycle; The real-time position of the A-axis servo motor indicates the actual position reached by the A-axis in each interpolation cycle; The real-time position of the C-axis servo motor indicates the actual position reached by the C-axis in each interpolation cycle.

4. The real-time motion control system according to claim 1, characterized in that: The local PC where the edge computing node is deployed is also provided with a human-machine interface connected to the motion control module and the network management module.

5. The real-time motion control system according to claim 1, characterized in that: The preprocessing of the interpolation point data by the hard real-time interpolation control module includes: The hard real-time interpolation control module extracts a set of control instructions from the data transmission synchronization area and reads the command flag therein; if the command flag determines that an emergency stop is to be executed, a pre-set motor stop instruction is executed; if the command flag determines that a speed ratio adjustment is to be executed, the interpolation point value of each motion axis is multiplied by the corresponding speed ratio according to the data of the speed ratio selection flag.

6. The real-time motion control system according to any one of claims 1 to 5, characterized in that: It also includes a cloud server that communicates with the edge computing node, and the cloud server includes a processing technology management module, a processing simulation module, and a processing process detection module; The processing technology management module supports inputting processing G codes or calling processing G codes stored in the cloud server; The processing simulation module is used to simulate and analyze the processing G code before processing, generate a motion simulation model of the underlying execution system according to the set motion planning algorithm, including simulation information such as the speed and acceleration of the motion process, and obtain an interpolation point data set for controlling the underlying execution system; The processing process detection module is used to display the processing motion process in the corresponding motion simulation model according to the motion position data set of the underlying execution system transmitted by the edge computing node.

7. The real-time motion control system according to claim 6, characterized in that: The cloud server communicates with the edge computing node via the ModBus protocol.

8. A real-time motion control method for a CNC machine tool based on the real-time motion control system according to any one of claims 1 to 7, characterized in that: include: S1. Input the machining G code and the command flag for controlling speed ratio adjustment and emergency stop into the edge computing node, select the machine tool to be processed, call the computing resources of the edge computing node to perform decoding and analysis, trajectory smoothing, speed planning and interpolation calculation to generate an interpolation point data set for controlling the underlying execution system, and generate a control instruction set based on the interpolation point data set and the command flag. The control instruction set contains several groups of control instructions, each group of control instructions consists of multiple control data; S2. The edge computing node applies to the corresponding field gateway controller for establishing non-real-time communication according to the IP address and port number corresponding to the selected machine tool to be processed. Specifically, the edge computing node sends a control instruction set to the field gateway controller through the data sending port; S3. After receiving the control instruction set, the field gateway controller stores it in a data delivery synchronization area within the field gateway controller. Each set of control instructions is sequentially extracted from the data delivery synchronization area according to a hard real-time interpolation control cycle. Each set of control instructions is pre-processed to generate final position control data, which is then delivered to the underlying execution system via a real-time communication port. The data write rate of the data delivery synchronization area is greater than its data read rate. S4. The servo driver of the underlying execution system receives the position control data of the cycle in a communication cycle with the field gateway controller, thereby controlling the movement of the servo motor and uploading the corresponding real-time motion position of the servo motor to the data upload synchronization area in the field gateway controller via the real-time communication port. The field gateway controller forms a motion position data set with the stored set number of real-time motion position data through the buffer of the data upload synchronization area, and transmits it to the edge computing node via the data upload port. The data reading rate of the data upload synchronization area is greater than its data writing rate.

9. The real-time motion control method according to claim 8, characterized in that: Also includes: Communication between the edge computing node and the cloud server is established through the ModBus protocol, and the cloud server is used for processing technology management, processing simulation and processing process detection; among them, processing technology management is used to input processing G code or call the processing G code stored in the cloud server; processing simulation is used to simulate and analyze the processing G code before processing, and generate a motion simulation model of the underlying execution system according to the set motion planning algorithm, which includes simulation information including the speed and acceleration of the motion process, and obtains the interpolation point data set for controlling the underlying execution system; processing process detection is used to display the processing motion process in the corresponding simulation model based on the motion position data set of the underlying execution system uploaded by the edge computing node.

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