Data synchronization interaction method of servo system and servo turntable system

Abstract

The invention provides a data synchronization interaction method of a servo system and a servo turntable system, and relates to the technical field of servo control, the servo system comprises a servo controller and a plurality of servo drivers, and the data synchronization interaction method comprises the following steps: S10, the servo controller generates a synchronization signal and sends the synchronization signal to each servo driver; s20, each servo driver receives the synchronization signal and generates an internal synchronization signal according to the same time sequence constraint so as to trigger the sensor to carry out data acquisition at the same moment; s30, the servo controller receives the collected data of each servo driver, and performs synchronization effect inspection based on the collected data; and performing calculation processing based on the acquired data, generating control data and sending the control data to the servo driver. According to the invention, only one communication link is arranged between the servo controller and each servo driver, and the synchronization problem of data interaction can be effectively solved under the condition that the position and speed sensor data are acquired by the servo drivers, and the time utilization rate of the servo system is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and particularly to a data synchronization and interaction method for a servo system and a servo turntable system. Background Art

[0002] In the hardware circuit of a certain existing servo turntable system, the servo driver (hereinafter referred to as "driver") has an independent FPGA processor hardware architecture, and the servo controller (hereinafter referred to as "controller") has an FPGA+DSP processor hardware architecture. Constrained by the system architecture, the servo controller and multiple servo drivers are installed at different positions on the turntable. The data acquisition of position and speed sensors is completed on the servo driver, and the data application and calculation are completed on the servo controller. Finally, the controller sends the calculated control data to each driver, and the final motor drive is completed on the driver.

[0003] There is only one RS485 communication link between each of these drivers and the controller. In addition to independent movement of each motor, there is also coordinated linkage between each motor. Therefore, when the controller interacts with the driver for data, how to synchronize the data of multiple drivers and ensure reliable and real-time interaction between the controller and each driver has become an important part that cannot be ignored in the operation of the servo system. Summary of the Invention

[0004] The technical problem to be solved by the present invention is how to achieve data synchronization of multiple drivers in a servo turntable system and ensure reliable and real-time interaction between the controller and each driver. The present invention provides a data synchronization and interaction method for a servo system and a servo turntable system.

[0005] According to the data synchronization and interaction method of the servo system in an embodiment of the present invention, the servo system includes a servo controller and multiple servo drivers. The execution steps on the servo controller side of the method include: A10, generating a synchronization signal and sending it to each servo driver to trigger each servo driver to perform data acquisition at the same moment; A20, receiving the acquisition data of each servo driver, performing synchronization effect verification based on the acquisition data; and performing calculation processing based on the acquisition data, generating control data and sending it to the servo driver.

[0006] According to the data synchronization and interaction method of the servo system in an embodiment of the present invention, the servo controller synchronously sends a synchronization signal to each servo driver, enabling each servo driver to perform synchronous data acquisition processing, improving the reliability and real-time performance of data interaction, and enabling multiple drivers to be expanded simultaneously according to system needs, improving the scalability of the system.

[0007] According to some embodiments of the present invention, in step A10, an interrupt signal is further generated, and the interval between the two interrupt signals is one control period. The interrupt signal at the start of each control period is the same signal as the synchronization signal, or the time interval between the interrupt signal at the start of each control period and the synchronization signal is less than a first threshold.

[0008] In some embodiments of the present invention, in step A20, the transmission time of the control data is determined according to the historical transmission time and historical reception time of the acquired data.

[0009] According to some embodiments of the present invention, in step A20, the method for performing synchronization effect verification includes: Performing timeout detection and data verification on the acquired data of each received servo driver, where the timeout detection is used to detect whether data is lost within a control period, and the data verification is used to detect whether the received data is correct; Based on the results of the timeout detection and data verification of each servo driver, perform synchronization effect verification on each servo driver.

[0010] In some embodiments of the present invention, the synchronization signal is sent at a baud rate of 230400 bit / s, and the control data is sent at a baud rate of 460800 bit / s.

[0011] According to the data synchronization interaction method of the servo system according to an embodiment of the present invention, the servo system includes a servo controller and a plurality of servo drivers, and the execution steps of the method on the side of each servo driver include: B10, receiving the synchronization signal sent by the servo controller, generating an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same moment, and sending the acquired data to the servo controller; B20, receiving the control data calculated and sent by the servo driver based on the acquired data, and performing drive control on the motor based on the control data.

[0012] According to the data synchronization interaction method of the servo system according to an embodiment of the present invention, after each servo driver receives the synchronization signal sent by the servo controller, an internal synchronization signal is generated according to the same timing constraint to synchronously perform data acquisition processing, improving the reliability and real-time performance of data interaction.

[0013] According to some embodiments of the present invention, in step B10, the generation moment of the internal synchronization signal is determined according to the historical acquisition time, historical transmission time of the acquired data, and historical time of synchronization effect verification.

[0014] A data synchronization and interaction method for a servo system according to an embodiment of the present invention, the servo system includes a servo controller and a plurality of servo drivers, and the method includes: S10, the servo controller generates a synchronization signal and sends it to each servo driver; S20, each servo driver receives the synchronization signal, generates an internal synchronization signal according to the same timing constraint to trigger the sensor to collect data at the same moment; S30, the servo controller receives the collected data of each servo driver, based on the collected data, performs a synchronization effect test; and based on the collected data, performs calculation processing, generates control data and sends it to the servo driver.

[0015] According to some embodiments of the present invention, in step S20, the generation moment of the internal synchronization signal is determined according to the historical collection time, historical transmission time of the collected data and the historical time of the synchronization effect test; in step S30, the transmission time of the control data is determined according to the historical transmission time and historical reception time of the collected data.

[0016] A servo turntable system according to an embodiment of the present invention, the servo turntable system includes a servo controller and a plurality of servo drivers, the servo controller adopts an FPGA+DSP processor hardware architecture, the servo driver adopts an FPGA processor hardware architecture, and a plurality of the servo drivers are all connected to the servo controller through an RS485 communication link; During operation, the servo controller generates a synchronization signal and sends it to each of the servo drivers, each of the servo drivers receives the synchronization signal, generates an internal synchronization signal according to the same timing constraint to trigger the sensor to collect data at the same moment, and sends the collected data to the servo controller, and the servo controller performs a synchronization effect test according to the collected data and sends the control data calculated based on the collected data to the servo driver.

[0017] According to the servo turntable system of the present invention, when there are independent FPGA processors in both the servo controller and a plurality of servo drivers, there is only one RS485 communication link between the servo controller and the servo driver respectively, and the position and speed sensor data are collected by the servo driver, the synchronization problem of data interaction can be effectively solved, and the reliability, real-time performance, system scalability are improved, and the time utilization rate of the servo system is optimized. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the overall design of the data synchronization and interaction method for the servo system according to the embodiment of the present invention; Figure 2Timing diagram of synchronization signal and interrupt signal in the data synchronization interaction method of the servo system according to an embodiment of the present invention; Figure 3 Timing diagram of internal synchronization signal in the data synchronization interaction method of the servo system according to an embodiment of the present invention; Figure 4 Timing diagram of collected data transmission in the data synchronization interaction method of the servo system according to an embodiment of the present invention; Figure 5 Timing diagram of data verification and synchronization verification in the data synchronization interaction method of the servo system according to an embodiment of the present invention; Figure 6 Timing diagram of control data in the data synchronization interaction method of the servo system according to an embodiment of the present invention; Figure 7 Timing diagram of motor drive in the data synchronization interaction method of the servo system according to an embodiment of the present invention; Figure 8 Timing diagram of RS485 data bus in the data synchronization interaction method of the servo system according to an embodiment of the present invention. Detailed implementation manners

[0019] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined purpose, the present invention will be described in detail as follows in combination with the accompanying drawings and preferred embodiments.

[0020] In the present invention, the description of the method flow in the specification and the steps in the flowchart in the accompanying drawings of the present invention do not necessarily have to be strictly executed according to the step numbers. The execution order of the method steps can be changed. Moreover, certain steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution.

[0021] The present invention proposes a design method for synchronous data interaction between a servo controller and multiple servo drivers, including relevant timing constraints of the servo controller, relevant timing constraints of the servo drivers, signal verification, synchronization effect verification, etc. By optimizing the timing, controlling the moment of data interaction, and adding verification, synchronous processing is performed on multiple servo drivers to improve the reliability and real-time performance of data interaction, and can greatly optimize the time utilization rate of the servo system. Multiple drivers can be expanded simultaneously according to the system needs, improving the scalability of the system.

[0022] According to the data synchronization interaction method of the servo system according to an embodiment of the present invention, the servo system includes a servo controller and multiple servo drivers. Among them, in combination with Figure 1 As shown, the execution steps on the servo controller side of the method include: A10 generates a synchronization signal and sends it to each servo drive to trigger each servo drive to perform data acquisition at the same moment. It should be noted that in the servo system of the present invention, the data acquisition of the position and speed sensors is completed on the servo drive. After receiving the synchronization signal, each servo drive generates an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same moment and send the acquired data to the servo controller.

[0023] A20 receives the acquired data from each servo drive, checks the synchronization effect based on the acquired data; and performs calculation processing based on the acquired data, generates control data and sends it to the servo drive. That is to say, in the servo system of the present invention, the application and calculation of the acquired data are completed on the servo controller.

[0024] According to the data synchronization and interaction method of the servo system of the present invention, the servo controller synchronously sends a synchronization signal to each servo drive, enabling each servo drive to perform synchronous data acquisition processing, improving the reliability and real-time performance of data interaction, and multiple drives can be expanded simultaneously according to system needs, improving the scalability of the system.

[0025] According to some embodiments of the present invention, as Figure 2 shown, in step A10, an interrupt signal is also generated, and the interval between the two interrupt signals is one control cycle. Among them, the interrupt signal at the start of each control cycle is the same signal as the synchronization signal, or the time interval between the interrupt signal at the start of each control cycle and the synchronization signal is less than the first threshold. The "first threshold" here is not limited to a specific value. In theory, the smaller the first threshold, the better. For example, the first threshold can be 1 clock. If a 1 kHz interrupt signal is generated by a 16 kHz signal, the first threshold can be 40.6 μs.

[0026] It should be noted that both the interrupt signal and the synchronization signal are generated by the FPGA of the servo controller. Among them, the interrupt signal is sent to the DSP of the servo controller to trigger the execution of the control algorithm of the servo controller DSP. The synchronization signal is sent to the servo drive to synchronize the acquired data of each servo drive. Since the servo controller will send control data to each servo drive after completing the calculation processing, to avoid data link occupancy conflicts during the sending and receiving periods of the control data and the synchronization signal, the interrupt signal and the synchronization signal at the start of each control cycle should be as close as possible. For example, the same signal can be used as both the synchronization signal and the interrupt signal to ensure their synchronization.

[0027] In some embodiments of the present invention, in step A20, the sending time of the control data is determined according to the historical sending time and historical receiving time of the acquired data. It should be noted that as Figure 6As shown, the transmission time of the control data determines the maximum available time T2 for the DSP calculation and processing of the servo controller. Therefore, within the specified control cycle, the value of T2 should be maximized. In the present invention, when the control cycle is 1 ms and there are 2 servo drivers, through optimizing the timing sequence, T2 can be about 700 μs.

[0028] Combined with Figure 8 As shown, the larger the time period ② (control data transmission and reception time period) is from the moment t0, it means that the available time for the execution of the control algorithm of the DSP of the servo controller is more abundant, and the scalability of the function is better. However, during the time period ③ (acquisition data transmission and reception time period), the RS485 bus is occupied. The variable range of the time period ② cannot touch the time period ③, otherwise a link conflict will occur. Therefore, by restricting the range of the time period ③, the range of the time period ② from the moment t0 can be expanded as much as possible. On the premise of not conflicting with the time period ③, within the specified control cycle, an optimal time period ② within a control cycle is determined according to the historical transmission time and historical reception time of the acquisition data.

[0029] According to some embodiments of the present invention, in step A20, the method for performing the synchronization effect verification includes: Performing timeout detection and data verification on the acquisition data of each received servo driver, wherein the timeout detection is used to detect whether data is lost within the control cycle, and the data verification is used to detect whether the received data is correct; Based on the results of the timeout detection and data verification of each servo driver, the synchronization effect of each servo driver is verified.

[0030] It should be noted that after the servo driver completes the acquisition, it sends the acquisition data to the servo controller. To ensure the synchronization effect, the servo controller needs to complete the synchronization effect verification and provide status feedback. According to the status feedback, problems such as whether the communication link is normal, whether the data is correct, and whether the synchronization is effective can be judged, and different control strategies are executed accordingly.

[0031] In some embodiments of the present invention, the synchronization signal is sent at a baud rate of 230400 bit / s, and the control data is sent at a baud rate of 460800 bit / s. It can be understood that by imposing the above different transmission baud rate constraints on the synchronization signal and the control data, the synchronization signal and the control data can be effectively distinguished, and problems such as data chaos and synchronization mis-triggering can be avoided.

[0032] According to the data synchronization interaction method of the servo system according to the embodiments of the present invention, the servo system includes a servo controller and a plurality of servo drivers. The execution steps of the method on the side of each servo driver include: B10 receives the synchronization signal sent by the servo controller, generates an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same moment, and sends the acquired data to the servo controller. It should be noted that after each servo driver receives and recognizes the synchronization signal, it generates an internal synchronization signal according to the same timing constraint to trigger the sensor data acquisition, so as to ensure the synchronization of the data acquisition moment.

[0033] B20 receives the control data calculated and sent by the servo driver based on the acquired data, and drives and controls the motor based on the control data.

[0034] According to the data synchronization and interaction method of the servo system according to the embodiment of the present invention, after each servo driver receives the synchronization signal sent by the servo controller, it generates an internal synchronization signal according to the same timing constraint to synchronously perform data acquisition processing, improving the reliability and real-time performance of data interaction.

[0035] According to some embodiments of the present invention, in step B10, the generation moment of the internal synchronization signal is determined according to the historical acquisition time, historical transmission time of the acquired data, and historical time of synchronization effect verification. It should be noted that as shown in Figure 3 The internal synchronization signal determines the sampling moment of the acquired data, and the interruption signal is the moment when the servo controller uses the data. Therefore, the smaller the time difference between the two, that is, the smaller T1, the better the data real-time performance. However, the acquisition, transmission of the acquired data, and the synchronization effect verification of the servo controller based on the acquired data all take time. Therefore, the generation moment of the internal synchronization signal can be determined through experiments or by using the historical acquisition time, historical transmission time of the acquired data, and historical time of synchronization effect verification.

[0036] The time consumed by the servo driver to acquire data is calculated based on the clock signal provided to the sensor. Under a 2.048 MHz clock signal, it takes about 20 μs to complete data acquisition; in the case of two servo drivers, the acquired data sent by the servo driver includes 4 bytes in total, including the frame header, checksum, and frame tail. Each of the sensor data of the two servo drivers is 4 bytes, totaling 12 bytes. The serial port baud rate is 460800 bit / s, and it takes about 260 μs. The synchronization effect verification is about 5 μs based on the processor system clock. In the above case, the present invention can make T1 about 300 μs by optimizing the timing.

[0037] According to the data synchronization and interaction method of the servo system according to the embodiment of the present invention, the servo system includes a servo controller and multiple servo drivers, and the method includes: S10, the servo controller generates a synchronization signal and sends it to each servo driver; S20, each servo driver receives the synchronization signal and generates an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same moment; In S30, the servo controller receives the acquisition data of each servo driver, and based on the acquisition data, performs synchronization effect verification; and based on the acquisition data, performs calculation and processing to generate control data and send it to the servo driver.

[0038] According to some embodiments of the present invention, in step S20, the generation time of the internal synchronization signal is determined according to the historical acquisition time, historical transmission time of the acquisition data, and historical time of synchronization effect verification; in step S30, the transmission time of the control data is determined according to the historical transmission time and historical reception time of the acquisition data.

[0039] The servo turntable system according to an embodiment of the present invention includes a servo controller and a plurality of servo drivers. The servo controller adopts an FPGA (Field Programmable Gate Array) + DSP (Digital Signal Processor) processor hardware architecture, and the servo driver adopts an FPGA (Field Programmable Gate Array) processor hardware architecture. The plurality of servo drivers are all connected to the servo controller through an RS485 communication link. As Figure 1 shown, the FPGA processor of the servo controller constructs a plurality of drive feedback interface modules, which can interact with a plurality of servo drivers simultaneously.

[0040] During operation, the servo controller generates a synchronization signal and sends it to each servo driver. Each servo driver receives the synchronization signal and generates an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same time, and immediately sends the acquisition data to the servo controller. The servo controller performs synchronization effect verification according to the acquisition data and sends the control data obtained by calculating based on the acquisition data to the servo driver.

[0041] According to the servo turntable system of the present invention, when there are independent FPGA processors in both the servo controller and the plurality of servo drivers, there is only one RS485 communication link between the servo controller and the servo driver respectively, and the position and speed sensor data are collected by the servo driver, the synchronization problem of data interaction can be effectively solved, and the reliability, real-time performance, system scalability are improved, and the time utilization rate of the servo system is optimized.

[0042] In summary, the present invention is a design method for synchronous data interaction suitable for a servo controller with a plurality of servo drivers, analyzes the respective working contents of the servo controller and the servo driver, and strictly restricts the following timings: Generation and transmission time of the synchronization signal: When does the servo controller generate the synchronization signal and send it to each servo driver; Generation time of the interrupt signal: When does the servo controller generate the interrupt signal to trigger the use of the sensor data sent by the servo driver; Time when the control signal is sent: When the servo controller sends the control data after calculation; Time when the internal synchronization signal is generated: When the servo driver generates an internal synchronization signal for data acquisition after receiving the synchronization signal sent by the servo controller; Time when the sensor data is sent: When the servo driver sends the collected sensor data.

[0043] The main part of the present invention realizes relevant timing design inside the FPGA. This method is applicable to the scenario where the servo controller and multiple servo drivers each have an independent FPGA processor, the communication mode between the servo controller and the servo driver is RS485 half-duplex communication, and the position and speed sensor data are collected by the servo driver. The present invention can effectively solve the synchronization problem of data interaction in this case, improve reliability, real-time performance, system scalability, and optimize the time utilization rate of the servo system.

[0044] The following describes the solution of the present invention in detail with a specific example with reference to the accompanying drawings. It can be understood that the following description is only an exemplary description and should not be construed as a specific limitation of the present invention.

[0045] The overall data interaction design solution in this embodiment is as Figure 1 shown, and the implementation steps are divided into the following steps: As Figure 2 shown, the FPGA of the servo controller generates a synchronization signal and an interrupt signal. The period of the interrupt signal is the control period, and the interrupt signal triggers the execution of the control algorithm of the servo controller DSP; the synchronization signal is used to synchronize the collected data of each servo driver. The interrupt signal and the synchronization signal are as close as possible, and the same signal can be used as both the synchronization signal and the interrupt signal.

[0046] As Figure 8 shown, the number ① is the synchronization signal sending and receiving period, the number ② is the control data sending and receiving period, the number ③ is the collected data sending and receiving period, t0 and t1 are the interrupt signal times, and the period between t0 and t1 is a control period. Since the time required for the DSP to execute different functions is different, the position of the ② period from t0 will change ( Figure 8 The first two dotted lines in the figure are used to indicate that the position of the ② period from t0 will change, rather than indicating that there are multiple ② periods in a control period). When the interrupt signal and the synchronization signal are close, it means that the ① period is close to the t0 moment, which can effectively avoid the changing ② period to prevent data link occupation conflicts between the ① and ② periods.

[0047] On this basis, to make the system more reliable, the baud rates of the transmission of the synchronization signal and the control data are constrained. Among them, the synchronization signal is sent out by the serial port at a baud rate of 230400 bit / s, and the control data is sent out by the serial port at a baud rate of 460800 bit / s. This can avoid the problem of false triggering of synchronization caused by the same baud rate.

[0048] As Figure 3 shown, after the FPGA of the servo driver receives the synchronization signal at a baud rate of 230400 bit / s, after a certain delay, an internal synchronization signal of the servo driver is generated. The internal synchronization signal determines the data sampling moment, and the interrupt signal is the moment when the servo controller uses the data. The smaller the time difference between the two, that is, the smaller T1, the better the data real-time performance.

[0049] As Figure 4 shown, the internal synchronization signal of the servo driver triggers the acquisition of sensor data. After the acquisition is completed, the serial port is immediately triggered to send, and the baud rate is 460800 bit / s.

[0050] As Figure 5 shown, the FPGA of the servo controller receives the sensor data at a baud rate of 460800 bit / s, and performs timeout detection and data verification on the data interaction of each servo driver. Among them, the timeout detection is to detect whether the data is lost within the control period, and the data verification is to detect whether the received data is correct. After each correct reception of the data, the status signal is updated. If the data is not received, there will also be a corresponding status signal. The synchronization effect is verified based on the status signal of each path, and the synchronization effect is fed back to the DSP of the servo controller for use.

[0051] As Figure 6 shown, the interrupt signal generated by the FPGA of the servo controller triggers the execution of the control algorithm of the DSP of the servo controller. After the DSP finishes the execution, the control data is sent to the FPGA of the servo controller. After the FPGA of the servo controller receives the control data, it triggers the serial port to send, and the baud rate is 460800 bit / s.

[0052] According to Figure 8 shown, in the third period, the RS485 bus is occupied. The variable range in the second period cannot touch the third period, otherwise a link conflict will occur. Therefore, constraining the range of the third period can expand the range of the second period from the t0 moment as much as possible. On the premise of not conflicting with the third period, the larger the distance from the movable boundary of the second period to the t0 moment, the more abundant the available time for the execution of the control algorithm of the DSP of the servo controller, and the better the functional scalability.

[0053] As Figure 7As shown, the FPGA of the servo driver receives control data at a baud rate of 460800 bit / s. Timeout detection and data verification are performed on this part. The timeout detection is to detect whether data is lost within the control cycle, and the data verification is to detect whether the received data is correct. The control data and enable status are updated based on the verification results to drive the motor to work properly.

[0054] In summary, the technical solution proposed by the present invention effectively solves the following problems: 1. Multiple drivers need to be synchronized to meet the multi-drive collaborative motion function of the system: The driver drives the motor to move. In this system, it is required that each motor not only moves independently but also has collaborative linkage between each motor. Therefore, when each driver performs data sampling and motor driving, synchronization processing needs to be performed and the synchronization effect needs to be verified. Otherwise, it is easy to cause synchronization failure. The present invention generates a synchronization signal through the controller and sends it to each driver through the RS485 channel. After each driver receives and recognizes the synchronization signal, it generates an internal synchronization signal according to the same timing constraint to trigger sensor data acquisition, so as to ensure the synchronization of the data acquisition moment.

[0055] After the driver completes the acquisition, it sends the acquired data to the controller. To ensure the synchronization effect, the controller needs to complete the synchronization effect verification and provide status feedback. According to the status feedback, it can be judged whether the communication link is normal, whether the data is correct, whether the synchronization is effective, etc., and different control strategies are executed accordingly.

[0056] 2. The synchronization signal and control data need to be distinguished to enhance the reliability of system data interaction and synchronization: Constrained by the system architecture, there is only one RS485 communication link between the driver and the controller respectively. The servo controller sends the synchronization signal and the control data through the same RS485 channel. The two need to be distinguished and separated in a certain way. Otherwise, data chaos and synchronization mis-triggering are likely to occur.

[0057] The present invention can be applied to the scenario where there is only one RS485 communication link between the driver and the controller respectively. The synchronization signal and the control data both perform data interaction through this path.

[0058] The controller sends the synchronization signal and the control data to the driver at different baud rates, and constraints are made on the execution moments of the two actions. Through this method, the synchronization signal and the control data can be effectively distinguished, and the problems of data chaos and synchronization mis-triggering can be avoided.

[0059] 3. Maximize the time available for the controller algorithm to execute and improve the scalability of the system: The hardware architecture of the controller is FPGA+DSP processor. The FPGA of the controller mainly conducts synchronous data interaction with the FPGA on other drivers, and the control algorithm for system functions is executed inside the DSP. Within the specified control cycle, only by maximizing the time resources available for the execution of the controller algorithm as much as possible and optimizing the timing of synchronous signals, control data transmission, interrupt signals, data sampling, etc. through certain methods can it be ensured that the system has sufficient running time when completing more complex control and calculations. Subsequently, it is beneficial to expand the system functions, improve the performance, and can also expand more drivers to achieve coordinated motion. Otherwise, it will lead to complex timing implementation, insufficient time utilization, and resource waste in the servo system.

[0060] The present invention analyzes the working content of the controller, including generating synchronous signals and interrupt signals, sending synchronous signals, receiving the acquired data sent by the driver, executing the control algorithm, and sending control data. The present invention maximizes the available time for executing the control algorithm by constraining the execution times of each action, such as Figure 6 . Ensure that the available time for executing the control algorithm is maximized, so as to expand the system functions and improve the performance.

[0061] 4. Optimize the data acquisition of the driver and the data usage time of the controller to improve the real-time performance of the system: In the field of control, the delay between data acquisition and data usage needs to be as short as possible to ensure the real-time performance of the control system. Otherwise, it will lead to a reduction in the control bandwidth of the system, response hysteresis, and affect the performance.

[0062] The present invention analyzes the phase relationship between the interrupt signal and the synchronous signal of the controller. By adjusting the delay time for generating the internal synchronous signal to trigger data acquisition after the driver receives the synchronous signal, the real-time performance of the system can be effectively improved on the premise of meeting the synchronous effect verification.

[0063] Through the description of the specific implementation manner, it should be possible to understand more deeply and specifically the technical means and effects adopted by the present invention to achieve the predetermined purpose. However, the attached drawings are only for reference and illustration, and are not used to limit the present invention.

Claims

1. A data synchronization and interaction method for a servo system, characterized in that, The servo system includes a servo controller and multiple servo drivers. The execution steps of the method on the side of the servo controller include: A10. Generate a synchronization signal and send it to each servo driver to trigger each servo driver to perform data acquisition at the same moment. A20. Receive the acquisition data of each servo driver, perform synchronization effect verification based on the acquisition data, and perform calculation processing based on the acquisition data to generate control data and send it to the servo driver.

2. The data synchronization and interaction method of the servo system according to claim 1, characterized in that In step A10, an interrupt signal is also generated. The interval between the two interrupt signals is one control cycle. The interrupt signal at the start of each control cycle is the same signal as the synchronization signal, or the time interval between the interrupt signal at the start of each control cycle and the synchronization signal is less than the first threshold.

3. The data synchronization and interaction method of the servo system according to claim 1, characterized in that In step A20, the sending time of the control data is determined according to the historical sending time and historical receiving time of the acquisition data.

4. The data synchronization and interaction method of the servo system according to claim 1, characterized in that, In step A20, the method for performing synchronization effect verification includes: Perform timeout detection and data verification on the acquisition data of each received servo driver. Among them, the timeout detection is used to detect whether data is lost within the control cycle, and the data verification is used to detect whether the received data is correct. Based on the results of the timeout detection and data verification of each servo driver, perform synchronization effect verification on each servo driver.

5. The data synchronization and interaction method of the servo system according to any one of claims 1-4, characterized in that, The synchronization signal is sent at a baud rate of 230400 bit / s, and the control data is sent at a baud rate of 460800 bit / s.

6. A data synchronization and interaction method for a servo system, characterized in that, The servo system includes a servo controller and multiple servo drivers. The execution steps of the method on the side of each servo driver include: B10. Receive the synchronization signal sent by the servo controller, generate an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same moment, and send the acquisition data to the servo controller. B20. Receive the control data calculated and sent by the servo driver based on the acquisition data, and perform drive control on the motor based on the control data.

7. The data synchronization and interaction method of the servo system according to claim 6, characterized in that, In step B10, the generation moment of the internal synchronization signal is determined according to the historical acquisition time, historical sending time of the acquisition data, and historical time of synchronization effect verification.

8. A data synchronization and interaction method for a servo system, characterized in that, The servo system includes a servo controller and multiple servo drivers. The method includes: S10. The servo controller generates a synchronization signal and sends it to each servo driver. S20. Each servo driver receives the synchronization signal and generates an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same moment. S30. The servo controller receives the acquisition data of each servo driver, performs synchronization effect verification based on the acquisition data, and performs calculation processing based on the acquisition data to generate control data and send it to the servo driver.

9. The data synchronization and interaction method of the servo system according to claim 8, characterized in that, In step S20, the generation moment of the internal synchronization signal is determined according to the historical acquisition time, historical sending time of the acquisition data, and historical time of synchronization effect verification; in step S30, the sending time of the control data is determined according to the historical sending time and historical receiving time of the acquisition data.

10. A servo turntable system, characterized in that, The servo turntable system includes a servo controller and multiple servo drivers. The servo controller adopts an FPGA+DSP processor hardware architecture, and the servo drivers adopt an FPGA processor hardware architecture. A plurality of the servo drivers are all connected to the servo controller through an RS485 communication link; During operation, the servo controller generates a synchronization signal and sends it to each of the servo drivers. Each of the servo drivers receives the synchronization signal, generates an internal synchronization signal according to the same timing constraint to trigger the sensor to perform data acquisition at the same moment, and immediately sends the acquired data to the servo controller. The servo controller performs a synchronization effect test based on the acquired data, and sends control data calculated based on the acquired data to the servo driver.

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