Distributed controller and control method

Abstract

The invention provides a distributed controller and a control method, which are applied to the technical field of distributed control, and are characterized in that a microcontroller, a control function module, an acquisition function module, an interaction interface module and a power supply interface module are integrated on the distributed controller, so that the distributed controller can directly perform acquisition of a sensor and output of a control instruction; meanwhile, different hardware implementation schemes can be adopted according to the loading control requirements of different scenes, and the space is effectively saved in the equipment space. In the initial stage of the loading process of the whole system, the upper computer generates configuration parameters based on loading channel information according to sensor data uploaded by the microcontroller through the scheduling system, and in the loading process, the upper computer edits a dynamic loading instruction according to real-time sensor data uploaded by the microcontroller through the scheduling system and loads the dynamic loading instruction to the microcontroller through the scheduling system. And the microcontroller generates a control signal according to the dynamic loading instruction and the configuration parameter transmitted by the scheduling system, so that the development and debugging efficiency is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of distributed control technology, and in particular to a distributed controller and a control method. Background Art

[0002] At present, the controllers of traditional loading control systems are generally non-standard designs. In terms of hardware form, they are generally based on standard rack-mounted industrial computers and built-in related input and output boards, combined with peripheral power supply junction boxes and conditioning and amplification junction boxes, and installed on standard cabinets. In terms of software, real-time systems or non-real-time systems are used for non-standard design and debugging. Therefore, the non-standard design of software and hardware makes this type of controller non-universal, resulting in low development and debugging efficiency, and poor reliability and stability. Summary of the invention

[0003] In view of this, the present application provides a distributed controller and control method, which have strong versatility, effectively save space in equipment space, and improve development and debugging efficiency.

[0004] In a first aspect, the present application provides a distributed controller, including:

[0005] A microcontroller, a control function module, an acquisition function module, an interaction interface module and a power supply interface module; wherein the control function module includes at least one control interface; the acquisition function module includes at least one type of sensor; the interaction interface module includes a host computer interface; the power supply interface module includes a power supply interface;

[0006] The microcontroller is connected to the control function module, the acquisition function module, the interactive interface module and the power supply interface module respectively; the scheduling system is connected to the host computer interface in the interactive interface module and the host computer respectively; the control interface in the control function module is connected to the actuator; the power supply interface in the power supply interface module is connected to the power supply;

[0007] Among them, at the beginning stage of the overall system loading process, after the microcontroller obtains the sensor data collected by the acquisition function module, the sensor data is uploaded to the host computer through the scheduling system, and the host computer generates configuration parameters based on the sensor data and the loading channel information; the host computer feeds back the configuration parameters to the microcontroller; the microcontroller saves the configuration parameters;

[0008] During the loading process, the microcontroller acquires the sensor data collected by the acquisition function module in real time, and then uploads the sensor data to the host computer through the scheduling system. The host computer edits the dynamic loading instructions according to the sensor data; the host computer feeds back the dynamic loading instructions to the microcontroller; the microcontroller generates a control signal according to the dynamic loading instructions and the configuration parameters; the control signal is transmitted to the corresponding actuator through the control interface.

[0009] Optionally, the types of sensors include load sensors, analog displacement sensors, orthogonal encoding signal displacement sensors and angle encoders, and have corresponding power supply interfaces.

[0010] Optionally, the control interface includes a valve control interface and a servo motor drive control interface.

[0011] Optionally, the interactive interface module further includes a slave interface, and the slave interface is used to connect to other slave stations.

[0012] Optionally, the interactive interface module further includes a debugging interface, and the debugging interface is used to debug the loading channel individually.

[0013] Optionally, the power supply interface includes at least one combination of an isolation transformer, a rectifier module and a modulation module.

[0014] Optionally, the power supply interface module also includes an indication module interface, and the indication module interface is used to connect an indicator light and a display screen.

[0015] Optionally, the microcontroller is deployed with a control algorithm model and a component model, and the microcontroller can be configured by a host computer or separate debugging software.

[0016] A second aspect of the present application provides a control method, which is applied to a distributed controller, comprising:

[0017] At the beginning of the overall system loading process, the microcontroller obtains the sensor data collected by the acquisition function module;

[0018] The sensor data is uploaded to the host computer through the scheduling system; wherein the host computer generates configuration parameters based on the loading channel information according to the sensor data; the host computer feeds back the configuration parameters to the microcontroller;

[0019] The microcontroller receives the configuration parameters;

[0020] The microcontroller saves the configuration parameters.

[0021] Optionally, the control method further includes:

[0022] During the loading process, the microcontroller acquires the sensor data collected by the collection function module in real time;

[0023] The sensor data is uploaded to the host computer through the scheduling system; wherein the host computer edits the dynamic loading instruction according to the sensor data; the host computer feeds back the dynamic loading instruction to the microcontroller;

[0024] The microcontroller receives the dynamic loading instruction;

[0025] The microcontroller generates a control signal according to the dynamic loading instruction and the configuration parameter; wherein the control signal is transmitted to the corresponding actuator through a control interface.

[0026] It can be seen from the above scheme that the present application provides a distributed controller and a control method. By integrating a microcontroller, a control function module, an acquisition function module, an interactive interface module and a power supply interface module on the distributed controller, the distributed controller can directly acquire sensors and output control instructions. At the same time, different hardware implementation schemes can be adopted for the loading control requirements of different scenarios, effectively saving space in the device space. At the beginning of the overall system loading process, the host computer generates configuration parameters based on the sensor data uploaded by the microcontroller through the scheduling system and the loading channel information. During the loading process, the host computer edits the dynamic loading instructions according to the real-time sensor data uploaded by the microcontroller through the scheduling system. The microcontroller generates control signals according to the received dynamic loading instructions and configuration parameters, effectively improving the development and debugging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0028] Figure 1 A schematic diagram of a distributed controller provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of a power supply interface provided in another embodiment of the present application;

[0030] Figure 3 An overall architecture diagram of a distributed controller hardware provided in another embodiment of the present application;

[0031] Figure 4 A schematic diagram of a distributed control system provided by another embodiment of the present application;

[0032] Figure 5 A schematic diagram of a modular design of a distributed controller provided in another embodiment of the present application;

[0033] Figure 6 A flow chart of a control method provided in another embodiment of the present application;

[0034] Figure 7 A flow chart of a control method provided in another embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0037] It should be noted that the information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0038] It should be noted that the concepts such as "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0039] It should be noted that the modifications of "one" and "plurality" mentioned in the present application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0040] The present application embodiment provides a distributed controller, such as Figure 1 As shown, the specific steps include:

[0041] A microcontroller 10 , a control function module 20 , a collection function module 30 , an interaction interface module 40 and a power supply interface module 50 .

[0042] The control function module 20 includes at least one control interface 21 ; the acquisition function module 30 includes at least one type of sensor 31 ; the interaction interface module 40 includes a host computer interface 41 ; and the power supply interface module 50 includes a power supply interface 51 .

[0043] The microcontroller 10 is respectively connected to the control function module 20, the acquisition function module 30, the interactive interface module 40 and the power supply interface module 50; the scheduling system 60 is respectively connected to the host computer interface 41 in the interactive interface module 40 and the host computer 70; the control interface in the control function module 20 is connected to the actuator 80; and the power supply interface 51 in the power supply interface module 50 is connected to the power supply 90.

[0044] Optionally, in another embodiment of the present application, the types of sensors include but are not limited to load (force / torque) sensors, analog displacement sensors, orthogonal coded signal displacement sensors, angle encoders and other sensor types, and have corresponding power supply interfaces, which are not limited here.

[0045] Optionally, in another embodiment of the present application, the control interface includes a valve control interface and a servo motor drive control interface, which is not limited here.

[0046] Optionally, in another embodiment of the present application, the interactive interface module further includes a slave interface, and the slave interface is used to connect to other slave stations.

[0047] In the specific implementation process of this application, under a dedicated scheduling system, the Ethercat bus technology can be used as a slave station to form the entire loading system; the distributed controller can be equipped with at least two high-speed Ethernet ports, which can be used to connect to the upper scheduling machine and other slave station devices, which are not limited here.

[0048] In the specific implementation process of the present application, the communication module for communication is changed from the traditional point-to-point connection of the network port to a bus form, which is easy to expand the system channel.

[0049] Optionally, in another embodiment of the present application, the interactive interface module also includes a debugging interface, which can be used for portable debugging, that is, the loading channel can be debugged independently without relying on the system framework.

[0050] Optionally, in another embodiment of the present application, Figure 2 As shown, the power supply interface includes at least one set of isolation transformer, rectifier module and modulation module. Traditional power modules of different specifications are made into an integrated control circuit.

[0051] Optionally, in another embodiment of the present application, the power supply interface module also includes an indication module interface, which is used to connect the indicator light and the display screen, so that the corresponding parameter configuration module and status can be obtained in real time, and a good human-computer interaction design can be provided.

[0052] According to the above embodiment, if Figure 3 As shown, it is an overall architecture diagram of a distributed controller hardware provided in an embodiment of the present application, which may include but is not limited to load sensors, speed sensors, position sensors, angle sensors, others (corresponding sensors may be added later according to actual application conditions), indication module interfaces, power supply interfaces, other interfaces (corresponding interfaces may be added later according to actual application conditions), multiple control interfaces, host computer interfaces, slave interfaces, and debugging interfaces.

[0053] Optionally, in another embodiment of the present application, the microcontroller is deployed with corresponding control algorithm models and component models, which can be configured by a host computer or separate debugging software to meet different loading requirements.

[0054] Furthermore, the microcontroller can also obtain / modify the status / modify parameter information of the actual device corresponding to the component model through the corresponding detection algorithm, so as to calibrate and test the actual device, which is not limited here.

[0055] In the specific implementation process of the present application, at the beginning stage of the overall system loading process, after the microcontroller 10 obtains the sensor data collected by the acquisition function module 30, the sensor data is uploaded to the host computer 70 through the scheduling system 60. The host computer 70 generates configuration parameters based on the sensor data and the loading channel information; the host computer 70 feeds back the configuration parameters to the microcontroller 10; and the microcontroller 10 saves the configuration parameters.

[0056] In the specific implementation process of the present application, after the host computer 70 generates configuration parameters based on the loading channel information according to the sensor data, engineers, experts, relevant authorized staff, etc. interactively debug the configuration parameters, and after confirmation, send the determined configuration parameters to the microcontroller 10.

[0057] During the loading process, the microcontroller 10 obtains the sensor data collected by the acquisition function module 30 in real time, and then uploads the sensor data to the host computer 70 through the scheduling system 60. The host computer 70 edits the dynamic loading instructions according to the sensor data; the host computer 70 feeds back the dynamic loading instructions to the microcontroller 10; the microcontroller 10 generates a control signal according to the dynamic loading instructions and configuration parameters; the control signal is transmitted to the corresponding actuator 80 through the control interface 51.

[0058] The distributed controller in this application can be used for but not limited to high-frequency and high-precision electro-hydraulic and electric servo loading control scenarios in actual application, and is not limited here.

[0059] Understandably, Figure 1 This is just a schematic diagram of the distributed controller. In the specific implementation process of this application, Figure 4 As shown, multiple distributed controllers can be connected to the same dispatching system, and each distributed controller is connected to a different loading channel. Each distributed controller controls a loading channel separately. The types of loading channels include but are not limited to electric, electro-hydraulic, etc., which are not limited here. Under the condition of meeting the technical requirements of high-performance loading scenarios, it has unique advantages, especially for large systems with widely distributed loading channels: it can reduce the corresponding control cabinets, redundant connection cables, etc., which helps to improve the reliability and performance of the system, provide redundancy capabilities, and if any node fails, it is easy to troubleshoot and replace the faulty node; if the system load is too large, additional nodes (subsequent channels) can be added to help digest the load.

[0060] In the specific implementation process of this application, the distributed controller modularizes the traditional control mode based on industrial computers and boards, such as Figure 5 As shown: the loading object that needs to be controlled by the collaboration of multiple boards in the prior art is packaged and designed, that is, the acquisition function module, the interactive interface module, the control function module, the microcontroller, etc. are integrated together to obtain a distributed controller. The distributed controller in this application can also support two channels at the same time and can be installed near the channel, which is convenient for installation, connection, maintenance, and fault point troubleshooting. The real-time performance can reach sub-millisecond level, and it is highly real-time and reliable.

[0061] In the specific implementation process of this application, the control part of the loading channel is integrated into the microcontroller, and only the acquisition, control output and calculation processing parts are performed for hard real-time processing; at the same time, the instructions, storage, logic processing and other parts are processed by the host computer, and the scheduling system sends them in real time, and are connected in series to each channel inside the space through a high-speed bus. For equipment with overly large loaded components, it effectively reduces cables, facilitates layout, and has higher real-time performance.

[0062] As can be seen from the above scheme, the present application provides a distributed controller, which can directly collect sensor data and output control instructions through the high integration of the distributed controller and integrate it into the form of hardware circuits. At the same time, different hardware implementation schemes can be adopted for the loading control requirements of different scenarios, saving space in the equipment space, saving layout at the customer site, reducing cables, etc. The host computer configures and outputs the instructions, which are sent to the distributed controller for local configuration through the scheduling system, and run based on the configuration, that is, there is no need to modify the code; the instructions, storage, logic processing and other parts are processed by the host computer and sent in real time by the scheduling system, and the distributed controller only needs to calculate and output instructions. It effectively saves space in the equipment space and improves the efficiency of development and debugging.

[0063] The embodiment of the present application provides a control method, which is applied to the distributed controller in the present application, such as Figure 6 As shown, the control method specifically includes:

[0064] S601: At the beginning of the overall system loading process, the microcontroller obtains sensor data collected by the collection function module.

[0065] Among them, the acquisition function module includes at least one type of sensor, and the types of sensors include but are not limited to load (force / torque) sensors, analog displacement sensors, orthogonal encoding signal displacement sensors, angle encoders and other sensor types, and have corresponding power supply interfaces, which are not limited here.

[0066] The microcontroller is deployed with corresponding control algorithm models and component models, which can be configured by the host computer or separate debugging software to meet different loading requirements.

[0067] Furthermore, the microcontroller can also obtain / modify the status / modify parameter information of the actual device corresponding to the component model through the corresponding detection algorithm, so as to perform calibration and testing of the actual device, which is not limited here.

[0068] S602, upload the sensor data to the host computer through the scheduling system.

[0069] S603 , the microcontroller receives configuration parameters generated by the host computer according to the sensor data and the loading channel information.

[0070] In the specific implementation process of the present application, after the host computer generates configuration parameters based on the loading channel information according to the sensor data, engineers, experts, relevant authorized staff, etc. can interactively debug the configuration parameters, and after confirmation, send the determined configuration parameters to the microcontroller.

[0071] S604: The microcontroller saves the configuration parameters.

[0072] Optionally, in another embodiment of the present application, an implementation of the control method is as follows: Figure 7 As shown, it also includes:

[0073] S701. During the loading process, the microcontroller acquires sensor data collected by the collection function module in real time.

[0074] S702, upload the sensor data to the host computer through the scheduling system.

[0075] S703, the microcontroller receives the dynamic loading instruction edited by the host computer according to the sensor data.

[0076] S704: The microcontroller generates a control signal according to the dynamic loading instruction and the configuration parameters.

[0077] S705: Transmit the control signal to the corresponding actuator through the control interface.

[0078] As can be seen from the above scheme, the present application provides a control method, which is applied to distributed controllers. Through the high integration of distributed controllers, it is integrated into the form of hardware circuits, which can directly collect sensors and output control instructions. At the same time, different hardware implementation schemes can be used for the loading control requirements of different scenarios, saving space in the equipment space, saving layout at the customer site, reducing cables, etc. And the host computer configures and outputs the instructions, which are sent to the distributed controller for local configuration through the scheduling system, and run based on the configuration, that is, there is no need to modify the code; the instructions, storage, logic processing and other parts are processed by the host computer and sent in real time by the scheduling system, and the distributed controller only needs to calculate and output instructions. It effectively saves space in the equipment space and improves the efficiency of development and debugging.

[0079] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0080] Another embodiment of the present application provides a computer storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the control method as described in any one of the above embodiments is implemented.

[0081] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0082] It should be noted that the computer-readable medium mentioned above in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0083] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0084] Another embodiment of the present application provides a computer program product, which is used to execute the above control method when executed.

[0085] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, the above-mentioned functions defined in the method of the embodiment of the present application are executed.

[0086] Although the subject matter has been described in language specific to structural features and / or method logic actions, it should be understood that the subject matter defined in this application is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing this application.

[0087] Although several specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present application. Certain features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination.

[0088] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A distributed controller, characterized in that: include: A microcontroller, a control function module, an acquisition function module, an interaction interface module and a power supply interface module; wherein the control function module includes at least one control interface; the acquisition function module includes at least one type of sensor; the interaction interface module includes a host computer interface; the power supply interface module includes a power supply interface; The microcontroller is connected to the control function module, the acquisition function module, the interactive interface module and the power supply interface module respectively; the scheduling system is connected to the host computer interface in the interactive interface module and the host computer respectively; the control interface in the control function module is connected to the actuator; the power supply interface in the power supply interface module is connected to the power supply; Among them, at the beginning stage of the overall system loading process, after the microcontroller obtains the sensor data collected by the acquisition function module, the sensor data is uploaded to the host computer through the scheduling system, and the host computer generates configuration parameters based on the sensor data and the loading channel information; the host computer feeds back the configuration parameters to the microcontroller; the microcontroller saves the configuration parameters; During the loading process, the microcontroller acquires the sensor data collected by the acquisition function module in real time, and then uploads the sensor data to the host computer through the scheduling system. The host computer edits the dynamic loading instructions according to the sensor data; the host computer feeds back the dynamic loading instructions to the microcontroller; the microcontroller generates a control signal according to the dynamic loading instructions and the configuration parameters; the control signal is transmitted to the corresponding actuator through the control interface.

2. The distributed controller according to claim 1, characterized in that: The types of sensors include load sensors, analog displacement sensors, orthogonal encoding signal displacement sensors and angle encoders, and are equipped with corresponding power supply interfaces.

3. The distributed controller according to claim 1, characterized in that: The control interface includes a valve control interface and a servo motor drive control interface.

4. The distributed controller according to claim 1, characterized in that: The interactive interface module also includes a slave interface, and the slave interface is used to connect with other slave stations.

5. The distributed controller according to claim 1, characterized in that: The interactive interface module also includes a debugging interface, and the debugging interface is used to debug the loading channel separately.

6. The distributed controller according to claim 1, characterized in that: The power supply interface includes at least one combination of an isolation transformer, a rectifier module and a modulation module.

7. The distributed controller according to claim 1, characterized in that: The power supply interface module also includes an indication module interface, and the indication module interface is used to connect the indicator light and the display screen.

8. The distributed controller according to claim 1, characterized in that: The microcontroller is deployed with a control algorithm model and a component model, and the microcontroller can be configured by a host computer or separate debugging software.

9. A control method, characterized in that: Applicable to distributed controllers, including: At the beginning of the overall system loading process, the microcontroller obtains the sensor data collected by the acquisition function module; The sensor data is uploaded to the host computer through the scheduling system; wherein the host computer generates configuration parameters based on the loading channel information according to the sensor data; the host computer feeds back the configuration parameters to the microcontroller; The microcontroller receives the configuration parameters; The microcontroller saves the configuration parameters.

10. The control method according to claim 9, characterized in that: Also includes: During the loading process, the microcontroller acquires the sensor data collected by the collection function module in real time; The sensor data is uploaded to the host computer through the scheduling system; wherein the host computer edits the dynamic loading instruction according to the sensor data; the host computer feeds back the dynamic loading instruction to the microcontroller; The microcontroller receives the dynamic loading instruction; The microcontroller generates a control signal according to the dynamic loading instruction and the configuration parameter; wherein the control signal is transmitted to the corresponding actuator through a control interface.

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