Two-dimensional position comparison system for motion control

Abstract

The present invention relates to the field of industrial automation systems, and discloses a two-dimensional position comparison system for motion control. The system comprises: a software motion controller, in which a non-real-time operating system and a real-time operating system are arranged; a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit are arranged in the real-time control system; a two-dimensional comparison module, in which the two-dimensional comparison module is connected to the software motion controller for communication, and in which a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit and a position comparison unit are arranged; a driver, in which a network interface chip is externally connected to a driver; a motor, in which the driver is connected to the motor for communication, and the motor is connected to the FPGA programmable logic processing unit for communication; and a target to be controlled, in which the target to be controlled is connected to the position comparison unit for communication. The present invention can realize high-precision and high-efficiency motion control.

Description

Technical Field

[0001] The invention relates to the field of industrial automation systems, and in particular to a two-dimensional position comparison system for motion control. Background Art

[0002] In the field of precision automation control, with the rapid development of visual technology, in addition to controlling position and speed, more and more production lines have higher and higher requirements for the quality of inspection of the shape and nameplate information of each product, and each product needs to be inspected as much as possible. In the current inspection, precise position control is required, such as camera control, dispensing switch valve control, etc. To achieve this goal, the commonly used solutions are generally divided into two types. One is to use the high-speed position comparison function of the servo drive to pre-store the point in the drive buffer in advance. When the feedback position reaches the set position, the pulse signal is triggered; the other is to use the extremely short communication cycle of the bus on the bus controller, and periodically obtain the received instructions to compare the command position and the encoder position. When the set point is reached, the IO signal is triggered to achieve control of the camera. These two solutions have their own application scenarios and shortcomings, and cannot take into account the accuracy and efficiency of motion control. Summary of the invention

[0003] The main purpose of the present invention is to solve the technical problem of not being able to take into account both the accuracy and efficiency of motion control.

[0004] A first aspect of the present invention provides a motion-controlled two-dimensional position comparison system, the motion-controlled two-dimensional position comparison system comprising:

[0005] A software motion controller, wherein a non-real-time operating system and a real-time operating system are provided in the software motion controller;

[0006] The real-time control system is provided with a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit;

[0007] The non-real-time control system is communicatively connected with the motion control kernel;

[0008] The motion control kernel is communicatively connected with the position comparison parameter setting unit;

[0009] The motion control core is communicatively connected with the position comparison data processing unit;

[0010] A two-dimensional comparison module, wherein the two-dimensional comparison module is communicatively connected with the software motion controller, and wherein a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, and a position comparison unit are arranged in the two-dimensional comparison module;

[0011] The network interface chip is communicatively connected with the motion control core;

[0012] The network interface chip is communicatively connected with the bus control chip;

[0013] A driver, the network interface chip is externally connected to the driver;

[0014] A motor, wherein the driver is communicatively connected to the motor, and the motor is communicatively connected to the FPGA programmable logic processing unit;

[0015] The MCU microprocessor is communicatively connected to the FPGA programmable logic processing unit;

[0016] The FPGA programmable logic processing unit is communicatively connected with the position comparison unit;

[0017] The position comparison unit is communicatively connected with the real-time comparison information feedback unit;

[0018] The real-time comparison information feedback unit is communicatively connected with the position comparison data processing unit;

[0019] A target to be controlled is communicatively connected with the position comparison unit.

[0020] Optionally, in a first implementation of the first aspect of the present invention, a user application and position comparison parameter settings are provided in the non-real-time operating system.

[0021] Optionally, in a third implementation of the first aspect of the present invention, the communication connection between the non-real-time control system and the motion control kernel includes:

[0022] The user application is communicatively connected with the motion control kernel in a memory-sharing manner.

[0023] Optionally, in a fourth implementation of the first aspect of the present invention, the communication connection between the network interface chip and the motion control kernel includes:

[0024] The software motion controller is provided with a first real-time bus interface;

[0025] The two-dimensional position comparison module is provided with a second real-time bus interface and a third real-time bus interface;

[0026] The motion control kernel is communicatively connected with the network interface chip via the first real-time bus interface and the second real-time bus interface;

[0027] The network interface chip is communicatively connected with the driver via the third real-time bus interface.

[0028] Optionally, in a fifth implementation of the first aspect of the present invention, the two-dimensional position comparison module includes a pulse signal interface, the position comparison unit is communicatively connected with the real-time comparison information feedback unit according to the pulse signal interface, and the target to be controlled is communicatively connected with the position comparison unit according to the pulse signal interface.

[0029] Optionally, in a sixth implementation method of the first aspect of the present invention, the two-dimensional position comparison module is provided with two encoder feedback interfaces, the third real-time bus interface is connected to the two drivers, and the drivers are correspondingly connected to the motors; the motor is communicatively connected to the FPGA programmable logic processing unit according to the encoder feedback interface.

[0030] Optionally, in a seventh implementation manner of the first aspect of the present invention, the target to be controlled is a camera.

[0031] Optionally, in an eighth implementation manner of the first aspect of the present invention, the target to be controlled is a laser interface.

[0032] In an embodiment of the present invention, a non-real-time operating system and a real-time operating system are simultaneously set in the software motion controller in the two-dimensional position comparison system of motion control. The non-real-time operating system can handle some tasks that do not require real-time response, while the real-time operating system is specifically used to handle tasks that require real-time performance. By separating the two operating systems, the reliability and stability of the real-time control system can be ensured. Motion control kernel, position comparison parameter setting unit and position comparison data processing unit: The motion control kernel, position comparison parameter setting unit and position comparison data processing unit are set in the real-time control system. The motion control kernel is responsible for implementing the algorithm and logic of motion control, the position comparison parameter setting unit is used to set the parameters of motion control, and the position comparison data processing unit is used to process the position comparison data. These components work together to achieve accurate motion control. A communication connection is established between the non-real-time control system and the motion control kernel. This connection can realize the monitoring, configuration and adjustment of motion control by the non-real-time system, thereby ensuring the stability and controllability of the entire system. The software motion controller establishes a communication connection with the two-dimensional comparison module. The two-dimensional comparison module is an independent module, which includes components such as a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit and a position comparison unit. By communicating with the software motion controller, the two-dimensional comparison module can provide a higher level of motion control functions and processing capabilities. Through the network interface chip, the software motion controller can communicate with the motion control kernel and bus control chip. This connection method can realize data exchange and coordination with other devices or systems, increasing the flexibility and scalability of the control system. The driver establishes a communication connection with the motor and connects it to the FPGA programmable logic processing unit. This connection method can realize precise control and drive of the motor, so that the motion control system can adjust the motor's speed, position, torque and other parameters as needed. In summary, the structure and components of the software motion controller work together to achieve high-precision and high-efficiency motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The first embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention is shown;

[0034] Figure 2 A second embodiment of the two-dimensional position comparison system for motion control according to an embodiment of the present invention is shown;

[0035] Figure 3 A third embodiment of the two-dimensional position comparison system for motion control in an embodiment of the present invention is shown;

[0036] Figure 4 The fourth embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention is shown;

[0037] Figure 5 FIG. 5 is a schematic diagram of a fifth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention;

[0038] Figure 6 The sixth embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention is shown;

[0039] Figure 7 The seventh embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention is shown;

[0040] Figure 8 The eighth embodiment of the two-dimensional position comparison system for motion control in the embodiments of the present invention is illustrated. DETAILED DESCRIPTION

[0041] An embodiment of the present invention provides a two-dimensional position comparison system for motion control.

[0042] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , a first embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention, the two-dimensional position comparison system for motion control comprises:

[0044] A software motion controller 201, wherein the software motion controller 201 is provided with a non-real-time operating system 2011 and a real-time operating system 2012; the real-time control system is provided with a motion control kernel 20121, a position comparison parameter setting 20112 unit 20122 and a position comparison parameter setting 20112 unit 20123; the non-real-time control system is communicatively connected with the motion control kernel 20121; the motion control kernel 20121 is communicatively connected with the position comparison parameter setting 20112 unit 20122; the motion control kernel 20121 is communicatively connected with the position comparison parameter setting 20112 unit 20123; a two-dimensional comparison module, wherein the two-dimensional comparison module is communicatively connected with the software motion controller 201, and wherein the two-dimensional comparison module is provided with a network connection chip, a bus control chip 2022, an MCU microprocessor 2023, an FPGA programmable logic processing unit 2024 and a position comparison unit 2025; the network connection The port chip 2021 is communicatively connected with the motion control kernel 20121; the network interface chip 2021 is communicatively connected with the bus control chip 2022; the driver 203, the network interface chip 2021 is externally connected with the driver 203; the motor 204, the driver 203 is communicatively connected with the motor 204, the motor 204 is communicatively connected with the FPGA programmable logic processing unit 2024; the MCU microprocessor 2023 is communicatively connected with the FPGA programmable logic processing unit 2024; the FPGA programmable logic processing unit 2024 is communicatively connected with the position comparison unit 2025; the position comparison unit 2025 is communicatively connected with the real-time comparison information feedback unit 2026; the real-time comparison information feedback unit 2026 is communicatively connected with the position comparison parameter setting 20112 unit 20123; the target to be controlled 205, the target to be controlled 205 is communicatively connected with the position comparison unit 2025.

[0045] Further, in one embodiment, reference may be made to Figure 2 , Figure 2 This is the second embodiment of the two-dimensional position comparison system for motion control in the embodiments of the present invention. The non-real-time operating system 2011 is provided with a user application 20111 and a position comparison parameter setting 20112 .

[0046] In this optional embodiment, a user application is set in the non-real-time operating system, so that the user can customize and expand the functions of the software motion controller through programming or configuration. The user can write an application according to specific needs to implement a customized motion control logic to meet specific control requirements. This flexibility makes the controller more customizable and adaptable to various complex control scenarios. Position comparison parameter settings are also set in the non-real-time operating system, which means that the user can adjust the mode and behavior of motion control by setting different parameters. For example, the user can set parameters such as motion speed, acceleration, and limit to meet specific motion requirements. In this way, the user can flexibly control the performance and behavior of the motion system and optimize and adjust it according to actual conditions. By setting user applications and position comparison parameter settings in the non-real-time operating system, the software motion controller has good scalability. The user can expand or improve the controller by adding new applications or modifying the position comparison parameter settings. In this way, the controller can adapt to the ever-changing and developing control requirements and maintain compatibility with new technologies and applications. Integrating user applications and position comparison parameter settings in the non-real-time operating system can simplify the software development process. Developers can directly use the interfaces and functions provided by the operating system to quickly implement their own application logic, and can dynamically modify parameters for debugging and optimization during runtime. In this way, the development cycle can be greatly shortened, and the development efficiency and product iteration speed can also be improved. Compared with the bus controller method, the two-dimensional comparison module can use an extremely short cycle, such as 1us. Compared with the common two-dimensional position comparison module, the trigger condition must meet the coordinates entering the range of the in-place width and the minimum point starting to move away from the set coordinate point to trigger the signal. For exception handling, all processes can be monitored in real time through real-time interaction. And the position comparison signal can be monitored, the result confirmed and adjusted in real time.

[0047] Further, in one embodiment, reference may be made to Figure 3 , Figure 3 This is the third embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention, the motion control kernel 20121 is communicatively connected with the non-real-time control system 201. The user application 20111 is communicatively connected with the motion control kernel 20121 in a memory sharing manner.

[0048] In this optional embodiment, the memory sharing method can realize real-time communication connection, so that the user application can exchange data with the motion control kernel in real time. This is very important for application scenarios that require fast response and real-time updates, such as robot control, precision instruments and equipment, etc. Communication through memory sharing can ensure the real-time performance of the control system and ensure the accuracy and real-time nature of the control instructions.

[0049] Further, in one embodiment, reference may be made to Figure 4 , Figure 4 This is the fourth embodiment of the two-dimensional position comparison system for motion control in the embodiments of the present invention. The software motion controller 201 is provided with a first real-time bus interface 2013; the two-dimensional position comparison module 202 is provided with a first real-time bus interface 2027 and a third real-time bus interface 2028; the motion control kernel 20121 is communicated with the network interface chip 2021 through the first real-time bus interface 2013 and the first real-time bus interface 2027; the network interface chip 2021 is communicated with the driver 203 through the third real-time bus interface 2028.

[0050] In this optional embodiment, high real-time performance can be achieved by using a real-time bus interface for communication connection. The real-time bus interface has a lower delay and a higher data transmission rate, so that control instructions and data can be transmitted and processed in a real-time manner. This is very important for motion control systems, and can ensure the accuracy and timeliness of control instructions, and improve the response speed and performance of the system. The real-time bus interface can efficiently transmit a large amount of data. Through the first real-time bus interface and the second real-time bus interface, the motion control kernel can quickly and reliably exchange data with the network interface chip and the two-dimensional position comparison module. And through the third real-time bus interface, the network interface chip can perform efficient data transmission with the driver. In this way, the entire control system can achieve fast and effective data transmission, improving the overall efficiency and performance of the system.

[0051] Further, in one embodiment, reference may be made to Figure 5 , Figure 5 This is the fifth embodiment of the two-dimensional position comparison system for motion control in the embodiments of the present invention. The two-dimensional position comparison module 202 includes a pulse signal interface 2029. The position comparison unit 2025 is communicated with the real-time comparison information feedback unit 2026 according to the pulse signal interface 2029. The target to be controlled 205 is communicated with the position comparison unit 2025 according to the pulse signal interface 2029.

[0052] In this optional embodiment, through the pulse signal interface, the two-dimensional position comparison module can receive the pulse signal from the motion device. The position comparison unit can communicate these pulse signals with the real-time comparison information feedback unit, so as to achieve accurate positioning of the position of the motion device. This is very important for applications that require high-precision position control, such as robot motion control, automatic positioning, etc. Through the communication connection with the real-time comparison information feedback unit, the position comparison unit can timely feed back the detected position signal to the control system. This allows the control system to make immediate adjustments and decisions based on the real-time position information. This is very critical for achieving closed-loop control and dynamic control, and can improve the stability and accuracy of the system. Through the pulse signal interface, the target to be controlled can directly communicate with the position comparison unit. In this way, the target to be controlled can send instructions, parameters and other information to the position comparison unit to achieve flexible control of the motion device. At the same time, the position comparison unit can also transmit real-time position data to the target to be controlled, so that the target to be controlled can obtain the status information of the system in time.

[0053] Further, in one embodiment, reference may be made to Figure 6 , Figure 6 This is the sixth embodiment of the two-dimensional position comparison system for motion control in the embodiment of the present invention, the two-dimensional position comparison module 202 is provided with two encoder feedback interfaces 2030, the third real-time bus interface 2028 is connected to the two drivers 203, the drivers 203 are correspondingly connected to the motors 204; the motors 204 are communicatively connected to the FPGA programmable logic processing unit 2024 according to the encoder feedback interfaces 2030. Optionally, the number of drivers, the number of motors, and the number of encoder feedback interfaces correspond to each other and can be n.

[0054] In this optional embodiment, by setting up multiple encoder feedback interfaces, position feedback signals of multiple axes can be received simultaneously. In this way, position comparison and control of multiple axes can be realized, which is suitable for application scenarios that support multi-axis motion, such as robotic arms, CNC, etc. Each encoder feedback interface corresponds to an axis, and each axis can be accurately positioned and controlled independently. By connecting to multiple drivers through the third real-time bus interface, efficient data transmission and communication can be achieved. The real-time bus has a low latency and a high data transmission rate, which can ensure that control instructions and data can be transmitted and processed in real time. This can improve the response speed and performance of the system. Compared with the internal position comparison of the driver, it can meet different requirements for position comparison in single-channel, two-dimensional and other occasions. No need for pre-writing.

[0055] Further, in one embodiment, reference may be made to Figure 7 , Figure 7This is the seventh embodiment of the two-dimensional position comparison system for motion control in the embodiments of the present invention. The target 205 to be controlled is a camera.

[0056] Further, in one embodiment, reference may be made to Figure 8 , Figure 8 This is the eighth embodiment of the two-dimensional position comparison system for motion control in the embodiments of the present invention. The target 205 to be controlled is a laser interface.

[0057] In an embodiment of the present invention, a non-real-time operating system and a real-time operating system are simultaneously set in the software motion controller in the two-dimensional position comparison system of motion control. The non-real-time operating system can handle some tasks that do not require real-time response, while the real-time operating system is specifically used to handle tasks that require real-time performance. By separating the two operating systems, the reliability and stability of the real-time control system can be ensured. Motion control kernel, position comparison parameter setting unit and position comparison data processing unit: The motion control kernel, position comparison parameter setting unit and position comparison data processing unit are set in the real-time control system. The motion control kernel is responsible for implementing the algorithm and logic of motion control, the position comparison parameter setting unit is used to set the parameters of motion control, and the position comparison data processing unit is used to process the position comparison data. These components work together to achieve accurate motion control. A communication connection is established between the non-real-time control system and the motion control kernel. This connection can realize the monitoring, configuration and adjustment of motion control by the non-real-time system, thereby ensuring the stability and controllability of the entire system. The software motion controller establishes a communication connection with the two-dimensional comparison module. The two-dimensional comparison module is an independent module, which includes components such as a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit and a position comparison unit. By communicating with the software motion controller, the two-dimensional comparison module can provide a higher level of motion control functions and processing capabilities. Through the network interface chip, the software motion controller can communicate with the motion control kernel and bus control chip. This connection method can realize data exchange and coordination with other devices or systems, increasing the flexibility and scalability of the control system. The driver establishes a communication connection with the motor and connects it to the FPGA programmable logic processing unit. This connection method can realize precise control and drive of the motor, so that the motion control system can adjust the motor's speed, position, torque and other parameters as needed. In summary, the structure and components of the software motion controller work together to achieve high-precision and high-efficiency motion control.

[0058] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A two-dimensional position comparison system for motion control, characterized in that: The two-dimensional position comparison system of the motion control comprises: A software motion controller, wherein a non-real-time operating system and a real-time operating system are provided in the software motion controller; The real-time operating system is provided with a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit; The non-real-time operating system is in communication with the motion control kernel, wherein the non-real-time operating system is provided with a user application and position comparison parameter settings; The motion control kernel is communicatively connected with the position comparison parameter setting unit; The motion control core is communicatively connected with the position comparison data processing unit; A two-dimensional comparison module, wherein the two-dimensional comparison module is communicatively connected with the software motion controller, and wherein a network interface chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, and a position comparison unit are arranged in the two-dimensional comparison module; The network interface chip is communicatively connected with the motion control core; The network interface chip is communicatively connected with the bus control chip; A driver, the network interface chip is externally connected to the driver; A motor, wherein the driver is communicatively connected to the motor, and the motor is communicatively connected to the FPGA programmable logic processing unit; The MCU microprocessor is communicatively connected with the FPGA programmable logic processing unit; The FPGA programmable logic processing unit is communicatively connected with the position comparison unit; The position comparison unit is communicatively connected with the real-time comparison information feedback unit; The real-time comparison information feedback unit is communicatively connected with the position comparison data processing unit; a target to be controlled, the target to be controlled being communicatively connected with the position comparison unit; The communication connection between the non-real-time operating system and the motion control kernel includes: The user application is communicatively connected with the motion control kernel in a memory-sharing manner.

2. The two-dimensional position comparison system for motion control according to claim 1, characterized in that: The communication connection between the network interface chip and the motion control core includes: The software motion controller is provided with a first real-time bus interface; The two-dimensional position comparison module is provided with a second real-time bus interface and a third real-time bus interface; The motion control kernel is communicatively connected with the network interface chip via the first real-time bus interface and the second real-time bus interface; The network interface chip is communicatively connected with the driver via the third real-time bus interface.

3. The two-dimensional position comparison system for motion control according to claim 2, characterized in that: The two-dimensional position comparison module includes a pulse signal interface, the position comparison unit is communicatively connected with the real-time comparison information feedback unit according to the pulse signal interface, and the target to be controlled is communicatively connected with the position comparison unit according to the pulse signal interface.

4. The two-dimensional position comparison system for motion control according to any one of claims 1 to 3, characterized in that: The two-dimensional position comparison module is provided with two encoder feedback interfaces, and the third real-time bus interface is connected to the two drivers, and the drivers are correspondingly connected to the motors; the motor is communicatively connected to the FPGA programmable logic processing unit according to the encoder feedback interface.

5. The two-dimensional position comparison system for motion control according to claim 4, characterized in that: The target to be controlled is a camera.

6. The two-dimensional position comparison system for motion control according to claim 4, characterized in that: The target to be controlled is a laser interface.

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