Real-time data acquisition cooperative control system and working method thereof

Abstract

The invention discloses a real-time data acquisition cooperative control system and a working method thereof, and belongs to the technical field of automatic control. The system comprises an upper computer, a digital IO board and a power supply module. According to the method, a mathematical model is introduced in the initial stage of design, accurate description of a complex control algorithm can be achieved, and therefore development efficiency and system performance are remarkably improved; the hardware platform executable code can be directly generated from the model, the tedious process of traditional manual coding is avoided, a developer can complete modeling, debugging and optimization of a system without deeply mastering a hardware programming technology, the development period is greatly shortened, the development efficiency is improved, the system integration process is simplified, and the development cost is reduced. The reliability and the real-time response capability of the system are improved; meanwhile, the system can perform real-time sensing, quick response and efficient decision making in a dynamic environment, and reliable guarantee is provided for complex control tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and particularly to a real-time data acquisition collaborative control system. Background Art

[0002] In the field of modern industrial automation, with the continuous improvement of the complexity of control systems, the requirements for real-time performance, stability, and flexibility are increasing day by day. Traditional control system design methods usually rely on manual coding and experience-based debugging processes. In the face of complex multi-variable control and non-linear dynamic systems, this method has low development efficiency, high error rate, and is difficult to achieve rapid iteration and efficient verification. In addition, the heterogeneous characteristics of different hardware platforms increase the difficulty of system integration, resulting in an extended development cycle and reduced system reliability.

[0003] To solve the above problems, model-based design, as an innovative design concept, has gradually received attention and application. However, the current control systems based on model design still face many challenges, such as insufficient modularity and scalability in system architecture design, difficulty in efficient collaboration among multiple hardware platforms, and the low-latency requirements for real-time data transmission not being fully met. Therefore, developing a real-time data acquisition collaborative control system that can balance real-time performance, stability, and flexibility has important research significance and broad application prospects. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a real-time data acquisition collaborative control system and its working method, which can apply automatic modeling and code generation technologies to the development and optimization of motion control systems, accurately control multiple execution units in a dynamic environment, significantly improve the system response speed and control accuracy, and enhance the overall project development efficiency and system stability.

[0005] To achieve the above purpose, the present invention is implemented by the following technical solutions:

[0006] The present invention provides a real-time data acquisition collaborative control system, including a host computer and a digital IO board. The digital IO board includes an external device acquisition module, a DSP board, an FPGA board, and an output module;

[0007] The host computer is used for: constructing a mathematical model of the system according to the control and function requirements of the system; the mathematical model includes a control algorithm; converting the control algorithm into control instructions applicable to the DSP board and the FPGA board, and sending the control instructions to the DSP board; receiving and processing data, and updating the control instructions;

[0008] The DSP board is used for: receiving control instructions and external device data, cooperating with the FPGA board to execute the control instructions, performing parallel computing and signal processing on the external device data according to the control instructions to obtain processed data; and sending the processed data to the host computer.

[0009] The FPGA board is used for: receiving external device data and sending the external device data to the DSP board, cooperating with the DSP board to execute the control instructions, performing parallel computing and signal processing on the real-time feedback data of the system according to the control instructions to obtain processed data; and sending the processed data to the output module.

[0010] The external device acquisition module is used for: acquiring external device data and sending the external device data to the FPGA board.

[0011] The output module is used for: generating a control signal according to the processed data and outputting the control signal to the external device.

[0012] Optionally, using model design technology, a mathematical model of the system is constructed according to the control and functional requirements of the system.

[0013] The mathematical model further includes a signal processing module and a system input-output characteristic module.

[0014] The signal processing module is used for: displaying data, filtering and conditioning the data.

[0015] The system input-output characteristic module is used for: performing real-time control on the system.

[0016] Optionally, the control algorithm is expressed as:

[0017] ;

[0018] where represents the control signal; , , respectively represent the proportional gain, integral gain and derivative gain; represents the system error; represents time.

[0019] Optionally, using an automatic code generation tool, the control algorithm is converted into control instructions applicable to the DSP board and the FPGA board, and the control instructions are sent to the DSP board.

[0020] Optionally, the mathematical expression of the updated control instruction is:

[0021] ;

[0022] where represents the updated control instruction; and represents the feedback gain matrix; represents the system state vector; represents the derivative of the system state vector.

[0023] Optionally, it further includes a power supply module;

[0024] The power supply module is connected to the digital I / O board through the interface on the digital I / O board, and is used to provide power for the DSP board and the FPGA board.

[0025] Optionally, the DSP board and the FPGA board are interconnected through the parallel bus on the digital I / O board;

[0026] The host computer conducts data communication and program update with the DSP board through a network port, wherein the network port is obtained by expanding the network interface through an SPI-to-network port chip.

[0027] Optionally, the host computer updates the program with the DSP board through the network port, including:

[0028] Converting the control instruction into executable code through an automatic code generation tool;

[0029] Converting the executable code into a hexadecimal file and a binary file in sequence according to the TI official protocol;

[0030] The host computer writes the binary file into the external memory through the network port, the DSP board reads the binary file from the external memory, and loads the binary file into the internal memory to complete the program update.

[0031] Optionally, the external device acquisition module includes an encoder data acquisition module and an analog-to-digital conversion module;

[0032] The encoder data acquisition module is used to collect the running state of the external device in real time, and send the position information and speed information of the external device to the FPGA board;

[0033] The analog-to-digital conversion module is used to convert the external device data from an analog signal to a digital signal.

[0034] On the other hand, the present invention provides a working method for a real-time data acquisition collaborative control system, adopting the system described in the first aspect, including:

[0035] The host computer sends a control instruction to the DSP board, and the DSP board sends the control instruction to the FPGA board; the external device acquisition module sends the external device data to the FPGA board, and the FPGA board sends the external device data to the DSP board;

[0036] The DSP board and the FPGA board cooperate to execute the control instruction, and according to the control instruction, perform parallel computing and signal processing on the external device data to obtain processed data;

[0037] The DSP board sends the processed data to the host computer; the FPGA board sends the processed data to the output module;

[0038] The host computer receives the processed data and updates the control instruction;

[0039] The output module generates a control signal according to the processed data and outputs the control signal to the external device.

[0040] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0041] By introducing a mathematical model in the initial design stage, the present invention can achieve an accurate description of complex control algorithms, thereby significantly improving the development efficiency and system performance; it can directly generate executable code for the hardware platform from the model, avoiding the cumbersome process of traditional manual coding, enabling developers to complete system modeling, debugging, and optimization without in-depth knowledge of hardware programming techniques, greatly reducing the development cycle, improving the development efficiency, simplifying the system integration process, and enhancing the reliability and real-time response ability of the system; at the same time, data can be sensed in real time, quickly responded to, and efficient decisions can be made in a dynamic environment through the system, providing a reliable guarantee for complex control tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The figure shows a schematic structural diagram of the real-time data acquisition cooperative control system of the present invention in an embodiment;

[0043] Figure 2 The figure shows a schematic acquisition process diagram of the real-time data acquisition cooperative control system of the present invention in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The technical solution of the present invention will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present invention are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. Without conflict, the technical features in the embodiments of the present invention and the embodiments can be combined with each other.

[0045] The term "and / or" only describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " generally represents an "or" relationship between the associated objects before and after.

[0046] Example 1

[0047] As Figure 1 shown, this embodiment introduces a real-time data acquisition collaborative control system, which can significantly reduce the development cost and the professional knowledge requirements for technicians, while improving the project development efficiency. It realizes efficient data interaction between the DSP board and the FPGA board through a parallel bus, and combines an automatic code generation tool to complete the automatic conversion from the model to executable code, thereby improving the real-time performance and stability of the system.

[0048] The system includes a host computer, a digital IO board, and a power supply module. The host computer also includes its supporting software platform.

[0049] The digital IO board integrates a DSP board, an FPGA board, an encoder data acquisition module, an analog-to-digital conversion (AD) module, a pulse width modulation (PWM) pulse output module, and rich interface resources. The digital IO board serves as the input / output interface of the system and connects external devices to the system through the interface. External devices include an external memory, sensors, and a power drive module.

[0050] The encoder data acquisition module is used to collect the operating status of external devices in real time and transmit the position and speed information of the external devices to the system through the encoder;

[0051] The analog-to-digital conversion (AD) module is used to convert the analog signals from external devices into digital signals and provide them to the DSP board for processing through the FPGA board;

[0052] The pulse width modulation (PWM) pulse output module is used to generate a PWM signal for controlling the motor according to the processed data and transmit the PWM signal to the power drive module.

[0053] The internal design of the digital IO board adopts a modular architecture. Various external devices such as the power supply module are connected to the system through an adapter interface, achieving high-precision signal acquisition and precise control. At the same time, the digital IO board is equipped with rich high-speed data bus interfaces, which can perform efficient data exchange and control with a variety of external devices, such as external memories, sensors, power drive modules, etc. Through these rich interface resources, users can flexibly expand according to different application scenarios, support the connection of various external devices, and provide more functional support.

[0054] The host computer communicates with the DSP board through the network port. The host computer downloads the control instruction code to the DSP board through the network port. The DSP board and the FPGA board are installed on the digital I / O board and are interconnected through a parallel bus. The FPGA board is responsible for real-time and efficient parallel data processing and high-speed control tasks. Data exchange between the FPGA board and the digital I / O board is carried out through a parallel bus or a high-speed interface. The digital I / O board is connected to the power module through an adapter interface to achieve accurate signal acquisition and closed-loop control.

[0055] The host computer adopts Model-Based Design (MBD) technology and constructs a mathematical model of the system based on the control requirements and functional requirements of the system. This model includes a control algorithm, a signal processing module, and a system input-output characteristic module, which can accurately reflect the dynamic behavior and control requirements of the system. The control algorithm can be expressed by the state-space equation or the PID control formula as:

[0056] ;

[0057] Wherein, represents the control signal; , , respectively represent the proportional gain, integral gain, and derivative gain; represents the system error; represents time;

[0058] The signal processing module takes into account the data of different sensors, data filtering, and conditioning processes in the system;

[0059] The system input-output characteristic module can optimize the input-output characteristics of the system through accurate modeling to meet the requirements of high-precision real-time control.

[0060] The modeling and simulation of the control algorithm are carried out in the host computer. After the model is generated, the constructed control algorithm is converted into control instructions suitable for the target hardware platform, such as the DSP board and the FPGA board, through an automatic code generation tool. This process ensures the compatibility between the code and the hardware platform and realizes the automatic transition from system modeling to code generation. The generated control instructions can be directly applied to the actual hardware platform. The system is optimized and adjusted through simulation and verification links to ensure the stability and reliability of the system during actual operation.

[0061] After being verified without errors, it is downloaded to the DSP board through the network port for actual control. At this time, real-time communication and program update are established between the host computer and the DSP board through the network port.

[0062] The system supports real-time data exchange and program update through the network interface. During the program update process, the control instructions generated by the host computer are converted into executable code, such as an.out file, through an automatic code generation tool. Then, the executable code is converted into a hexadecimal file, such as a.hex file, according to the TI official protocol, and further converted into a binary file. Next, the binary file is written into an external memory, such as a Flash memory, through the network interface. The DSP board reads the binary file from the external memory and loads it into the internal memory to complete the program update. This process is divided into two steps, ensuring the real-time performance and stability of the system during operation, and supporting online upgrade and dynamic adjustment.

[0063] The network interface is extended through an SPI-to-Ethernet chip. The SPI-to-Ethernet chip is connected to the DSP board through the SPI bus, docking the DSP board, which originally does not have network communication capabilities, with an external network interface, and realizing stable communication between the DSP board and the host computer. Specifically, the SPI-to-Ethernet chip processes the Ethernet communication protocol through its built-in TCP / IP protocol stack, enabling the DSP board to exchange data, transmit control signals, and provide real-time feedback with the host computer through the network, thereby completing remote control and data acquisition tasks.

[0064] The DSP board receives the control instructions sent by the host computer through the network interface and receives the external device data, such as current, position, speed, etc., sent by the FPGA board. It cooperates with the FPGA board through a parallel bus to execute the control instructions, and performs parallel calculations and signal processing on the external device data according to the control instructions to obtain processed data. The DSP board sends the processed data to the host computer through the network interface. The FPGA board sends the processed data to the pulse width modulation (PWM) pulse output module, generates a PWM signal for controlling the motor according to the processed data, and transmits the PWM signal to the power drive module. The data transmission is optimized through a state space model to ensure the accurate application of the control algorithm in the system. The host computer receives the processed data and updates the control instructions. The updated control instructions are expressed as:

[0065] ;

[0066] where and represent the feedback gain matrix; represents the system state vector; represents the derivative of the system state vector. The DSP board receives the control instructions updated in real time by the host computer and transmits them to the FPGA board to cooperate with the FPGA board for high-speed processing, ensuring the fast response and adjustment of the system.

[0067] The DSP board and the FPGA board are connected through the parallel bus on the digital I / O board to form an efficient data transmission channel. The DSP board is responsible for generating real-time control instructions, parallel computing, and signal processing tasks. The FPGA board mainly undertakes tasks such as control signal scheduling and data transmission in this system to ensure the response speed and processing ability of the system. This part of the design can ensure that the system has high-frequency and high-real-time control capabilities and is suitable for high-speed dynamic control systems. As the core channel, the parallel bus ensures the efficient transfer of data between modules, thus realizing the collaborative work of real-time data acquisition, processing, and feedback, and ensuring the response speed of the system and the real-time nature of data processing.

[0068] The power supply module is responsible for providing stable power supply for the entire system, mainly used to supply power to the DSP board and the FPGA board. The power supply module inputs through 220V AC mains, and is converted into 5V and 3.3V DC power through the protection circuit and the voltage stabilization module to supply the control parts in the DSP board and the FPGA board.

[0069] The power supply module also ensures the stable operation of the system through the isolation transformer and the power protection circuit, avoiding system failures caused by power fluctuations or electrical interference.

[0070] Embodiment 2

[0071] Based on the same inventive concept as Embodiment 1, this embodiment introduces a working method of a real-time data acquisition collaborative control system, which specifically includes the following steps:

[0072] The host computer sends control instructions to the DSP board, and the DSP board sends the control instructions to the FPGA board;

[0073] The encoder data acquisition module continuously acquires the operating state of the external device, transmits the position and speed information of the external device to the system, and the analog-to-digital conversion (AD) module converts the position and speed information of the external device from analog signals into digital signals to obtain conversion data, and sends the conversion data to the FPGA board, and the FPGA board sends the conversion data to the DSP board;

[0074] The DSP board and the FPGA board cooperate to execute the control instructions, and perform parallel computing and signal processing on the conversion data according to the control instructions to obtain processed data;

[0075] The DSP board sends the processed data to the host computer; the FPGA board sends the processed data to the pulse width modulation (PWM) pulse output module;

[0076] The host computer receives the processed data and updates the control instructions; updates the control instructions for subsequent data processing;

[0077] The Pulse Width Modulation (PWM) pulse output module generates a PWM signal for controlling the motor according to the processed data and sends the PWM signal to the power drive module.

[0078] The implementation of the functions of the above steps refers to the relevant content in the system of Embodiment 1 and will not be elaborated here.

[0079] Embodiment 3

[0080] Based on the same inventive concept as Embodiment 1, as Figure 2 shown, this embodiment introduces a method for obtaining a real-time data acquisition collaborative control system, which specifically includes the following steps:

[0081] Step 1: Adopt Simulink modeling and Model-Based Design (MBD) technology, combined with an automatic code generation tool, to automatically generate a control program, that is, a control instruction, suitable for the hardware platforms of the DSP board and the FPGA board, specifically including:

[0082] Create a mathematical model in Simulink: First, select a suitable control algorithm according to the system requirements and build the algorithm in Simulink. The modular design of the mathematical model facilitates subsequent code generation and debugging, ensuring the flexibility and scalability of the system;

[0083] Set the solver parameters: Select a solver type suitable for the hardware platform, such as a fixed-step solver or a variable-step solver, and set the sampling time and step size according to the requirements of the hardware platform; This step needs to consider the requirements of system real-time performance to ensure that the generated code can meet the runtime requirements of the DSP board and the FPGA board;

[0084] Complete the hardware configuration: Select the target hardware platform in the Hardware Implementation tab of Simulink, such as a DSP board or an FPGA board, and configure it according to the model and characteristics of the specific hardware platform; At the same time, import the configuration file of the target hardware into the Simulink model to ensure the compatibility of the code with the hardware platform;

[0085] Configure the peripheral resources: Configure the peripherals required by the system in the Simulink model, including the PWM module, ADC, GPIO interface, etc. When setting the peripherals, reasonable allocation should be made according to the actual resources of the hardware platform, and it is necessary to ensure that the peripheral configuration is consistent with the physical interface of the target platform;

[0086] Set the code generation options: Select an automatic code generation tool in the Simulink model and set the code generation parameters according to the requirements of the hardware platform. This step will define the format of the generated code, optimization options, and functions such as enabling real-time data exchange;

[0087] Generation control program: Use the automatic code generation tool in Simulink to convert the control algorithm in the model into C code or VHDL code suitable for DSP boards and FPGA boards. The generated code will be optimized according to the preset hardware configuration and ensure that the generated program can run efficiently on the target hardware;

[0088] Verify and debug the generated code: Compile the generated code and verify it through the debugging tool. The correctness of the generated code can be checked through the debugging tool, and ensure that it realizes the expected control function on the hardware platform;

[0089] Download and deploy the code: Finally, download the generated code to the target hardware for real-time operation. This step includes connecting the hardware platform, selecting the appropriate download tool, and ensuring that the code can be correctly deployed to the target hardware. According to needs, real-time parameter adjustment and optimization can be performed to ensure that the system performance reaches the optimal.

[0090] Step 2: By adopting the SPI-to-Ethernet chip, the expansion of the network interface of the DSP board is realized, and the stable communication between the DSP board and the host computer is successfully completed.

[0091] Step 3: Based on the parallel bus, the efficient data transmission between the DSP board and the FPGA board is realized, and combined with the self-designed startup code of the DSP board, it supports the online upgrade function and program update of the system through the network port.

[0092] Step 4: With the help of the data acquisition software designed by the host computer and combined with the self-developed communication protocol, the efficient acquisition and processing of real-time data are successfully realized.

[0093] The host computer obtains the data from sensors and actuators in real time through the customized data acquisition software, and conducts effective data exchange with the DSP board through the developed communication protocol.

[0094] The implementation of the functions of the above steps refers to the relevant content in the system of Embodiment 1, and will not be elaborated here.

[0095] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the purpose of the present invention and the scope protected by the claims. These all fall within the protection scope of the present invention.

Claims

1. A real-time data acquisition collaborative control system, characterized in that: It includes a host computer and a digital IO board, wherein the digital IO board includes a DSP board, an FPGA board, an external device acquisition module and an output module; The host computer is used to: construct a mathematical model of the system according to the control and functional requirements of the system; the mathematical model includes a control algorithm; convert the control algorithm into control instructions suitable for the DSP board and the FPGA board, and send the control instructions to the DSP board; receive and process data, and update the control instructions; The DSP board is used to: receive control instructions and external device data, send the control instructions to the FPGA board, cooperate with the FPGA board to execute the control instructions, perform parallel calculation and signal processing on the external device data according to the control instructions, obtain processing data, and update the control instructions; send the processing data to the host computer; The FPGA board is used to: receive external device data and control instructions, send the external device data to the DSP board, cooperate with the DSP board to execute the control instructions, perform parallel calculation and signal processing on the external device data according to the control instructions to obtain processed data; and send the processed data to the output module; The external device acquisition module is used to: collect external device data and send the external device data to the FPGA board; The output module is used to generate a control signal according to the processed data and output the control signal to an external device.

2. The real-time data acquisition collaborative control system according to claim 1 is characterized in that: Using model design technology, the mathematical model of the system is constructed according to the control and functional requirements of the system; The mathematical model also includes a signal processing module and a system input-output characteristic module; Signal processing module, used to display, filter and condition the data; System input-output characteristic module is used to control the system in real time.

3. The real-time data acquisition collaborative control system according to claim 1 or 2, characterized in that: The control algorithm is expressed as: ； in, Indicates control signal; , , Respectively represent proportional gain, integral gain and differential gain; Indicates the systematic error; Indicates time.

4. The real-time data acquisition and coordinated control system according to claim 1 is characterized in that: An automatic code generation tool is used to convert the control algorithm into control instructions suitable for the DSP board and the FPGA board, and the control instructions are sent to the DSP board.

5. The real-time data acquisition and coordinated control system according to claim 1 is characterized in that: The mathematical expression of the updated control instruction is: ； in, Indicates the updated control instructions; , represents the feedback gain matrix; represents the system state vector; represents the derivative of the system state vector.

6. The real-time data acquisition collaborative control system according to claim 1, characterized in that: Also includes a power module; The power supply module is connected to the digital IO board through an interface on the digital IO board, and is used to provide power to the DSP board and the FPGA board.

7. The real-time data acquisition and coordinated control system according to claim 1 is characterized in that: The DSP board and FPGA board are connected to each other through the parallel bus on the digital IO board; The host computer and the DSP board perform data communication and program update via the network port, wherein the network port is obtained by expanding the network interface via the SPI to network port chip.

8. The real-time data acquisition and coordinated control system according to claim 7 is characterized in that: The host computer and DSP board update the program through the network port, including: Converting the control instructions into executable codes by an automatic code generation tool; According to the TI official agreement, convert the executable code into a hexadecimal file and a binary file in sequence; The host computer writes the binary file into the external memory through the network port, the DSP board reads the binary file from the external memory, and loads the binary file into the internal memory to complete the program update.

9. The real-time data acquisition and coordinated control system according to claim 1, characterized in that: The external device acquisition module includes an encoder data acquisition module and an analog-to-digital conversion module; The encoder data acquisition module is used to collect the operating status of the external device in real time and send the position information and speed information of the external device to the FPGA board; The analog-to-digital conversion module is used to convert external device data from analog signals to digital signals.

10. A working method of a real-time data acquisition collaborative control system, using the system according to any one of claims 1 to 9, characterized in that: include: The host computer sends the control instructions to the DSP board, and the DSP board sends the control instructions to the FPGA board; The external device acquisition module sends the external device data to the FPGA board, and the FPGA board sends the external device data to the DSP board; The DSP board and the FPGA board cooperate to execute the control instruction, and according to the control instruction, perform parallel calculation and signal processing on the external device data to obtain processed data; The DSP board sends the processed data to the host computer; the FPGA board sends the processed data to the output module; The host computer receives and processes the data and updates the control instructions; The output module generates a control signal according to the processed data and outputs the control signal to an external device.

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