Data synchronization interaction method of servo system and servo turntable system

Abstract

The application 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. 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, generates an internal synchronization signal according to the same time sequence constraint, and triggers the sensor to collect data at the same time; S30, the servo controller receives the collected data of each servo driver, performs synchronization effect inspection based on the collected data, and performs calculation processing based on the collected data to generate control data and send the control data to the servo driver. In the case that there is only one communication link between the servo controller and each servo driver 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 time utilization rate of the servo system is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo control, in particular to a data synchronization interaction method of a servo system and a servo turntable system. BACKGROUND

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

[0003] Each of these drivers and controllers has only one RS485 communication link. In addition to independent movement of each motor, there is also coordinated linkage between each motor. Therefore, when the controller and the driver interact with data, how to synchronize the data of multiple drivers and ensure reliable and real-time data interaction between the controller and each driver becomes an indispensable part of the servo system. SUMMARY

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

[0005] The data synchronization interaction method of the servo system according to the embodiment of the present application, the servo system comprising a servo controller and multiple servo drivers, the method comprising the following steps executed on the servo controller side:

[0006] A10, generating a synchronization signal and sending it to each servo driver to trigger each servo driver to collect data at the same time;

[0007] A20, receiving the collected data of each servo driver, based on the collected data, performing a synchronization effect test; and based on the collected data, performing calculation processing, generating control data and sending it to the servo driver.

[0008] According to the data synchronization interaction method of the servo system according to the embodiment of the present application, the servo controller synchronously sends a synchronization signal to each servo driver, so that each servo driver performs synchronous data collection and processing, thereby improving the reliability and real-time performance of data interaction. In combination with the need of the system, multiple drivers can be expanded at the same time, thereby improving the scalability of the system.

[0009] According to some embodiments of the present application, in step A10, an interrupt signal is also generated, the interval between two of the interrupt signals is one control period, and the interrupt signal at the beginning of each control period is the same as the synchronization signal or the interrupt signal at the beginning of each control period is separated from the synchronization signal by less than a first threshold.

[0010] In some embodiments of the present application, in step A20, the transmission time of the control data is determined according to the historical transmission time and the historical reception time of the collection data.

[0011] According to some embodiments of the present application, in step A20, the method for performing the synchronization effect verification includes:

[0012] The collection data of each received servo driver is subjected to timeout detection and data verification, wherein the timeout detection is used to detect whether the data is lost within a control period, and the data verification is used to detect whether the received data is correct.

[0013] Based on the results of the timeout detection and the data verification of each servo driver, the synchronization effect verification is performed on each servo driver.

[0014] In some embodiments of the present application, the synchronization signal is transmitted at a baud rate of 230400 bit / s, and the control data is transmitted at a baud rate of 460800 bit / s.

[0015] The data synchronization interaction method of the servo system according to the embodiments of the present application includes the following steps performed at each servo driver:

[0016] B10, receiving the synchronization signal transmitted by the servo controller, generating an internal synchronization signal according to the same timing constraint, triggering the sensor to collect data at the same time, and transmitting the collection data to the servo controller;

[0017] B20, receiving the control data calculated and transmitted by the servo driver based on the collection data, and driving and controlling the motor based on the control data.

[0018] According to the data synchronization interaction method of the servo system according to the embodiments of the present application, after each servo driver receives the synchronization signal transmitted by the servo controller, an internal synchronization signal is generated according to the same timing constraint to synchronize the data collection and processing, thereby improving the reliability and real-time performance of the data interaction.

[0019] According to some embodiments of the present application, in step B10, the generation time of the internal synchronization signal is determined according to the historical collection time, the historical transmission time of the collection data, and the historical time of the synchronization effect verification.

[0020] The data synchronization interaction method of the servo system according to an embodiment of the present application, the servo system comprising a servo controller and a plurality of servo drives, the method comprising:

[0021] S10, the servo controller generates a synchronization signal and sends it to each servo drive;

[0022] S20, each servo drive receives the synchronization signal and generates an internal synchronization signal according to the same timing constraint to trigger the sensor to collect data at the same time;

[0023] S30, the servo controller receives the collected data of each servo drive, performs a synchronization effect test based on the collected data, and performs a calculation based on the collected data to generate control data and send it to the servo drive.

[0024] According to some embodiments of the present application, in step S20, the generation time of the internal synchronization signal is determined according to the historical collection time, the historical sending time and the historical time of the synchronization effect test of the collected data; in step S30, the sending time of the control data is determined according to the historical sending time and the historical receiving time of the collected data.

[0025] The servo turntable system according to an embodiment of the present application, the servo turntable system comprising a servo controller and a plurality of servo drives, the servo controller adopting a FPGA+DSP processor hardware architecture, the servo drive adopting a FPGA processor hardware architecture, and each of the plurality of servo drives being connected to the servo controller through an RS485 communication link;

[0026] In the running process, the servo controller generates a synchronization signal and sends it to each servo drive, each servo drive 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 time, and sends the collected data to the servo controller, the servo controller performs a synchronization effect test according to the collected data, and sends control data calculated based on the collected data to the servo drive.

[0027] According to the servo turntable system of the present application, in the case that the servo controller and the plurality of servo drives each have an independent FPGA processor, there is only one RS485 communication link between the servo controller and the servo drive, and the position and speed sensor data are collected by the servo drive, the synchronization problem of data interaction can be effectively solved, the reliability, real-time performance and system scalability are improved, and the time utilization rate of the servo system is optimized. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1The general scheme diagram of the data synchronization interaction method of the servo system according to the embodiment of the present application is designed;

[0029] Figure 2 The synchronization signal and the interrupt signal timing diagram in the data synchronization interaction method of the servo system according to the embodiment of the present application;

[0030] Figure 3 The internal synchronization signal timing diagram in the data synchronization interaction method of the servo system according to the embodiment of the present application;

[0031] Figure 4 The data collection and sending timing diagram in the data synchronization interaction method of the servo system according to the embodiment of the present application;

[0032] Figure 5 The data verification and synchronization verification timing diagram in the data synchronization interaction method of the servo system according to the embodiment of the present application;

[0033] Figure 6 The control data timing diagram in the data synchronization interaction method of the servo system according to the embodiment of the present application;

[0034] Figure 7 The motor driving timing diagram in the data synchronization interaction method of the servo system according to the embodiment of the present application;

[0035] Figure 8 The RS485 data bus timing diagram in the data synchronization interaction method of the servo system according to the embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to further illustrate the technical means and effects taken by the present application to achieve the predetermined purposes, the present application is described in detail below in combination with the drawings and preferred embodiments.

[0037] The description of the method flow in the specification of the present application and the steps of the flow chart in the drawings of the present application do not have to be strictly executed according to the step numbers. The method steps can change the execution order. Moreover, some steps can be omitted, a plurality of steps can be combined into one step for execution, and / or one step can be divided into a plurality of steps for execution.

[0038] The present application proposes a design method for the synchronization data interaction between a servo controller and a plurality of servo drivers, which includes the related timing constraints of the servo controller, the related timing constraints of the servo drivers, signal verification, synchronization effect verification and the like. By optimizing the timing, controlling the time of data interaction, increasing the verification, the plurality of servo drivers are processed synchronously, the reliability and real-time performance of the data interaction are improved, the time utilization rate of the servo system can be greatly optimized, a plurality of drivers can be expanded simultaneously according to the system needs, and the expandability of the system is improved.

[0039] According to the data synchronization interaction method of the servo system, the servo system comprises a servo controller and a plurality of servo drivers, wherein Figure 1 As shown in the method, the execution steps at the servo controller side comprise:

[0040] A10, a synchronization signal is generated and sent to each servo driver to trigger each servo driver to collect data at the same time; it should be noted that in the servo system of the present application, the data collection of the position and speed sensors is completed on the servo driver, and after receiving the synchronization signal, each servo driver generates an internal synchronization signal according to the same timing constraint to trigger the sensor to collect data at the same time, and sends the collected data to the servo controller.

[0041] A20, receiving the collected data of each servo driver, based on the collected data, performing synchronization effect verification; and based on the collected data, performing calculation processing, generating control data and sending the control data to the servo driver. That is, in the servo system of the present application, the application and calculation of the collected data are completed on the servo controller.

[0042] According to the data synchronization interaction method of the servo system, the servo controller synchronously sends a synchronization signal to each servo driver, so that each servo driver performs synchronous data collection and processing, thereby improving the reliability and real-time performance of data interaction, and a plurality of drivers can be expanded simultaneously according to the system requirements, thereby improving the scalability of the system.

[0043] According to some embodiments of the present application, as Figure 2 As shown in step A10, an interrupt signal is also generated, and the interval between the two interrupt signals is one control period. Among them, the interrupt signal at the beginning of each control period is the same signal as the synchronization signal, or the time interval between the interrupt signal at the beginning of each control period and the synchronization signal is less than a first threshold value. Here, the "first threshold value" is not limited to a specific value, and in theory, the smaller the first threshold value, the better. For example, the first threshold value can be 1 clock, and if a 1 kHz interrupt signal is generated by a 16 kHz, the first threshold value can be 40.6 μs.

[0044] It should be noted that the interrupt signal and the synchronization signal are generated by the FPGA of the servo controller, wherein the interrupt signal is sent to the DSP of the servo controller, and is used to trigger the control algorithm of the servo controller DSP to execute. The synchronization signal is sent to the servo driver, and is used to synchronize the collected data of each servo driver. Since the servo controller will send control data to each servo driver after completing the calculation processing, in order to avoid the data link occupation conflict between the sending and receiving time periods of the control data and the synchronization signal, the interrupt signal and the synchronization signal at the beginning of each control period should be as close as possible. For example, the same signal can be used as the synchronization signal and the interrupt signal, so as to ensure the synchronization of the two.

[0045] In some embodiments of the present application, in step A20, the sending time of the control data is determined according to the historical sending time and the historical receiving time of the collected data. It should be noted that, as shown in Figure 6 The sending time of the control data determines the maximum available time T2 of the DSP calculation processing of the servo controller. Therefore, the value of T2 should be maximized within the specified control period. In the present application, if the control period is 1 ms and the servo driver is 2, through the optimization of the timing, T2 can be about 700 μs.

[0046] As shown in Figure 8 The greater the time period ② (control data sending and receiving time period) is away from the t0 moment, the more abundant the available time of the control algorithm execution of the DSP of the servo controller is, and the better the expandability of the function is. However, the RS485 bus is occupied in the time period ③ (collected data sending and receiving time period), and the range of the changeable time period ② cannot touch the time period ③, otherwise the link conflict will occur. Therefore, the range of the time period ③ can expand the range of the time period ② away from the t0 moment as much as possible. Under the premise of not conflicting with the time period ③, the optimal time period ② within the specified control period is determined according to the historical sending time and the historical receiving time of the collected data.

[0047] According to some embodiments of the present application, in step A20, the method for performing the synchronization effect verification includes:

[0048] The collected data of each servo driver is subjected to timeout detection and data verification, wherein the timeout detection is used to detect whether the data is lost within the control period, and the data verification is used to detect whether the received data is correct;

[0049] Based on the results of the timeout detection and the data verification of each servo driver, the synchronization effect verification of each servo driver is performed.

[0050] It should be noted that the servo driver sends the collected data to the servo controller after the collection is completed, and in order to ensure the synchronization effect, the servo controller needs to complete the synchronization effect verification and provide state feedback. According to the state feedback, it can be judged whether the communication link is normal, the data is correct, the synchronization is effective, and the like, and different control strategies are executed accordingly.

[0051] In some embodiments of the present application, 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 restricting the transmission baud rates of the synchronization signal and the control data as described above, the synchronization signal and the control data can be effectively distinguished, and the problems of data confusion and synchronization false triggering can be avoided.

[0052] According to the data synchronization interaction method of the servo system according to the embodiment of the present application, the servo system comprises a servo controller and a plurality of servo drivers, and the execution steps of the method on each servo driver side comprise:

[0053] B10, receiving the synchronization signal sent by the servo controller, generating an internal synchronization signal according to the same timing constraint, triggering the sensor to collect data at the same time, and sending the collected data to the servo controller. It should be noted that after each servo driver receives the identification synchronization signal, the internal synchronization signal is generated according to the same timing constraint to trigger the sensor data collection, so as to ensure the synchronization of the data collection time.

[0054] B20, receiving the control data calculated and sent by the servo driver based on the collected data, and driving and controlling the motor based on the control data.

[0055] According to the data synchronization interaction method of the servo system according to the embodiment of the present application, 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, so as to synchronize the data collection and processing, and the reliability and real-time performance of the data interaction are improved.

[0056] According to some embodiments of the present application, in step B10, the generation time of the internal synchronization signal is determined according to the historical collection time, the historical sending time and the historical time of the synchronization effect verification of the collected data. It should be noted that, as shown in Figure 3 It is shown that the internal synchronization signal determines the sampling time of the collected data, and the interrupt signal is the time when the servo controller uses the data. Therefore, the smaller the time difference between the two, that is, the smaller T1, the better the real-time performance of the data. However, the collection, sending and synchronization effect verification of the collected data based on the collected data all need to occupy time. Therefore, the generation time of the internal synchronization signal can be determined by experiment or by using the historical collection time, the historical sending time and the historical time of the synchronization effect verification of the collected data.

[0057] The time consumed by the servo driver in collecting data is calculated according to the clock signal provided to the sensor, and under a clock signal of 2.048 MHz, it takes about 20 μs to complete data collection; in the case of two servo drivers, the collected data sent by the servo drivers contains a frame header, a check, a frame tail, a total of 4 bytes, and the sensor data of the two servo drivers is 4 bytes respectively, a total of 12 bytes, and the serial port baud rate is 460800 bit / s, and the time consumed is about 260 μs. The synchronization effect test is based on the processor system clock of about 5 μs. In the above case, the present application can make T1 about 300 μs by optimizing the timing.

[0058] The data synchronization interaction method of the servo system according to an embodiment of the present application, the servo system comprising a servo controller and a plurality of servo drivers, the method comprising:

[0059] S10, the servo controller generates a synchronization signal and sends it to each servo driver;

[0060] 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 collect data at the same time;

[0061] S30, the servo controller receives the collected data of each servo driver, performs a synchronization effect test based on the collected data, and performs calculation and processing based on the collected data to generate control data and send it to the servo driver.

[0062] According to some embodiments of the present application, in step S20, the generation time of the internal synchronization signal is determined according to the historical collection time, the historical sending time and the historical time of the synchronization effect test of the collected data; in step S30, the sending time of the control data is determined according to the historical sending time and the historical receiving time of the collected data.

[0063] The servo turntable system according to an embodiment of the present application comprises a servo controller and a plurality of servo drivers, the servo controller adopts a FPGA (programmable gate array) + DSP (digital signal processor) processor hardware architecture, the servo driver adopts a FPGA (programmable gate array) processor hardware architecture, and the plurality of servo drivers are connected with the servo controller through an RS485 communication link. As shown in Figure 1 The FPGA processor of the servo controller builds a plurality of drive feedback interface modules, which can interact with a plurality of servo drivers at the same time.

[0064] During operation, the servo controller generates a synchronization signal and sends it to each servo driver, each servo driver receives the synchronization signal, generates an internal synchronization signal according to the same timing constraints, so that the touch sensor collects data at the same time, and sends the collected data to the servo controller, the servo controller checks the synchronization effect according to the collected data, and sends control data calculated based on the collected data to the servo driver.

[0065] According to the servo turntable system of the application, the servo controller and the plurality of servo drivers each have an independent FPGA processor, there is only one RS485 communication link between the servo controller and the servo driver, and the position and speed sensor data are collected by the servo driver, so that the synchronization problem of data interaction can be effectively solved, the reliability, real-time performance and system scalability are improved, and the time utilization rate of the servo system is optimized.

[0066] In summary, the application is a synchronous data interaction design method suitable for a servo controller with a plurality of servo drivers, the respective working contents of the servo controller and the servo driver are analyzed, and the following timing is strictly constrained:

[0067] Synchronization signal generation and sending time: when does the servo controller generate a synchronization signal and send it to each servo driver?

[0068] Interrupt signal generation time: when does the servo controller generate an interrupt signal to trigger the sensor data sent by the servo driver?

[0069] Sending control signal time: when does the servo controller send the calculated control data?

[0070] Internal synchronization signal generation time: when does the servo driver generate an internal synchronization signal for data collection after receiving the synchronization signal sent by the servo controller?

[0071] Sensor data sending time: when does the servo driver send the collected sensor data.

[0072] The application mainly performs related timing design and implementation in the FPGA. The method is suitable for a scene in which the servo controller and the plurality of 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 application can effectively solve the synchronization problem of data interaction in this case, improve the reliability, real-time performance and system scalability, and optimize the time utilization rate of the servo system.

[0073] The scheme of the application will be described in detail below with reference to the accompanying drawings and a specific example. It can be understood that the following description is only an exemplary description and should not be understood as a specific limitation of the application.

[0074] The total scheme of the data interaction design in this embodiment is shown in Figure 1 The implementation steps are as follows:

[0075] As shown in Figure 2 , the synchronization signal and the interrupt signal are generated by the FPGA of the servo controller. 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 collection 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.

[0076] As shown in Figure 8 , 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 collection data sending and receiving period, t0 and t1 are the interrupt signal time, and t0 to t1 is a control period. Since the time required for the DSP to execute different functions is different, the ② period will change from t0 (as shown by the first two dashed lines in Figure 8 ). When the interrupt signal and the synchronization signal are close, it means that the ① period is close to the t0 time, and the changing ② period can be effectively avoided to prevent data link occupation conflicts between ① and ② periods.

[0077] On this basis, in order to make the system more reliable, the transmission baud rate of the synchronization signal and the control data is constrained. The synchronization signal is sent by the serial port at a baud rate of 230400 bit / s, and the control data serial port is sent at a baud rate of 460800 bit / s. In this way, the problem of false triggering synchronization caused by the same baud rate can be avoided.

[0078] As shown in Figure 3 , after the FPGA of the servo driver receives the synchronization signal at a baud rate of 230400 bit / s, it generates an internal synchronization signal of the servo driver after a certain delay. The internal synchronization signal determines the data sampling time, and the interrupt signal is the time when the servo controller uses the data. The smaller the time difference between the two, that is, the smaller the T1, the better the real-time performance of the data.

[0079] As shown in Figure 4 , the internal synchronization signal of the servo driver triggers the sensor data collection, and immediately triggers the serial port sending after the collection is completed, with a baud rate of 460800 bit / s.

[0080] As shown in Figure 5As shown in the figure, the servo controller's FPGA receives sensor data at a baud rate of 460,800 bit / s and performs timeout detection and data verification on each servo drive's data exchange. Timeout detection detects data loss within the control cycle, and data verification verifies that the received data is correct. A status signal is updated each time data is correctly received. A corresponding status signal is also generated if data is not received. Synchronization is verified based on each status signal and fed back to the servo controller's DSP for use.

[0081] like Figure 6 As 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 completes 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 it with a baud rate of 460800 bit / s.

[0082] according to Figure 8 As shown, the RS485 bus is occupied during period ③, and the range of movement during period ② cannot touch period ③, otherwise a link conflict will occur. Therefore, constraining the range of period ③ can maximize the range of period ② from time t0. Without conflicting with period ③, the greater the distance between period ②'s movable boundary and time t0, the more time the servo controller's DSP has available to execute the control algorithm, and the better the functional scalability.

[0083] like Figure 7 As shown in the figure, the servo drive's FPGA receives control data at a baud rate of 460,800 bit / s. This part performs timeout detection and data verification. The timeout detection detects whether data is lost during the control cycle, and the data verification verifies whether the received data is correct. Based on the verification results, the control data and enable status are updated to drive the motor normally.

[0084] In summary, the technical solution proposed by the present invention effectively solves the following problems:

[0085] 1. Multiple drivers need to be synchronized to meet the system's multi-drive collaborative motion function:

[0086] The driver drives the motor to move. This system requires that each motor not only move independently but also work in coordination with each other. Therefore, each driver needs to perform synchronization processing and verify the synchronization effect when performing data sampling and motor driving, otherwise it will easily lead to synchronization failure.

[0087] The application generates a synchronization signal through a controller, sends to each driver through an RS485 channel, and each driver receives the identification synchronization signal, generates an internal synchronization signal trigger sensor data collection according to the same timing constraints, so as to ensure the synchronization of data collection time.

[0088] After the driver completes the collection, the collected data is sent to the controller, in order to ensure the synchronization effect, the controller needs to complete the synchronization effect verification and provide state feedback. According to the state feedback, it can be judged whether the communication link is normal, the data is correct, the synchronization is effective and other problems, and different control strategies are executed accordingly.

[0089] 2. The synchronization signal and the control data need to be distinguished to enhance the reliability of system data interaction and synchronization:

[0090] Due to the constraints of the system architecture, there is only one RS485 communication link between the driver and the controller. The servo controller sends the synchronization signal and the control data through the same RS485 channel, and the two need to be distinguished and separated in a certain way, otherwise data confusion and synchronization false triggering are easy to occur.

[0091] The application can be applied to the scene where there is only one RS485 communication link between the driver and the controller. The synchronization signal and the control data are exchanged through this channel.

[0092] The controller sends the synchronization signal and the control data to the driver according to different baud rates, and the execution time of the two actions is constrained. Through this method, the synchronization signal and the control data can be effectively distinguished, and the problem of data confusion and synchronization false triggering can be avoided.

[0093] 3. Maximize the available time for controller algorithm execution and improve the scalability of the system:

[0094] The controller is a FPGA+DSP processor hardware architecture, mainly for synchronization data interaction between the FPGA of the controller and the FPGA of other drivers, and the control algorithm execution of the system function is completed in the DSP. Within the specified control period, only the available time resources for controller algorithm execution can be improved as much as possible, and the timing of synchronization signal, control data sending, interrupt signal, data sampling and other methods is optimized, so that the system can have sufficient running time under the condition of more complex control and calculation. Subsequent can expand the function of the system, improve the performance, and expand more drivers to realize cooperative motion. Otherwise, it will lead to complex timing of servo system, insufficient time utilization, and resource waste.

[0095] The application analyzes the working content of the controller, including generating a synchronization signal and an interrupt signal, sending the synchronization signal, receiving the collected data sent by the driver, executing a control algorithm, and sending control data. The application maximizes the available time for executing the control algorithm to expand the function and improve the performance of the system. Figure 6

[0096] 4. Optimizing the data collection of the driver and the data using time of the controller to improve the real-time performance of the system:

[0097] In the control field, the delay between the data collection and the data using should be as short as possible to ensure the real-time performance of the control system. Otherwise, it will lead to the reduction of the control bandwidth of the system, the delay of the response, and the influence on the performance.

[0098] The application analyzes the phase relationship between the interrupt signal and the synchronization signal of the controller. By adjusting the delay time of the internal synchronization signal triggering the data collection after the driver receives the synchronization signal, the real-time performance of the system can be effectively improved under the premise of meeting the synchronization effect verification.

[0099] Through the description of the specific embodiments, the technical means and effects taken by the application to achieve the predetermined purposes can be more deeply and specifically understood. However, the accompanying drawings are only provided for reference and illustration, and are not used to limit the application.​

Claims

1. A data synchronization interaction method for a servo system, characterized in that: The servo system includes a servo controller and multiple servo drivers, the servo controller adopts an FPGA+DSP processor hardware architecture, the servo drivers adopt an FPGA processor hardware architecture, and the multiple servo drivers are connected to the servo controller via an RS485 communication link. The method is executed on the servo controller side including the following steps: A10 generates a synchronization signal and sends it to each servo driver to trigger each servo driver to collect data at the same time; A20 receives the collected data of each servo driver, performs synchronization effect inspection based on the collected data; and performs calculation processing based on the collected data to generate control data and send it to the servo driver.

2. The data synchronization 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 two interrupt signals is one control cycle, the interrupt signal and the synchronization signal at the beginning of each control cycle are the same signal, or the time interval between the interrupt signal and the synchronization signal at the beginning of each control cycle is less than the first threshold.

3. The data synchronization 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 the historical receiving time of the collected data.

4. The data synchronization 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 collected data received from each servo drive. The timeout detection is used to detect whether the 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 timeout detection and data verification of each servo driver, the synchronization effect of each servo driver is tested.

5. The data synchronization interaction method of the servo system according to any one of claims 1 to 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 interaction method for a servo system, characterized in that: The servo system includes a servo controller and multiple servo drivers, the servo controller adopts an FPGA+DSP processor hardware architecture, the servo drivers adopt an FPGA processor hardware architecture, and the multiple servo drivers are connected to the servo controller via an RS485 communication link. The method is performed on each servo driver side including the following steps: 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 collect data at the same time, and sending the collected data to the servo controller; B20, receiving control data sent by the servo driver based on the collected data, and driving and controlling the motor based on the control data.

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

8. A data synchronization interaction method for a servo system, characterized in that: The servo system includes a servo controller and multiple servo drivers, the servo controller adopts an FPGA+DSP processor hardware architecture, the servo drivers adopt an FPGA processor hardware architecture, and the multiple servo drivers are connected to the servo controller via an RS485 communication link. 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 collect data at the same time; S30, the servo controller receives the collected data from each servo driver, performs synchronization effect inspection based on the collected data; and performs calculation processing based on the collected data to generate control data and send it to the servo driver.

9. The data synchronization interaction method of the servo system according to claim 8, characterized in that: In step S20, the generation time of the internal synchronization signal is determined according to the historical collection time, historical sending time and historical time of synchronization effect inspection of the collected data; in step S30, the sending time of the control data is determined according to the historical sending time and historical receiving time of the collected 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, the servo drivers adopt an FPGA processor hardware architecture, and the multiple servo drivers are connected to the servo controller via 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 and generates an internal synchronization signal according to the same timing constraint, so that the touch sensors collect data at the same time and send the collected data to the servo controller. The servo controller verifies the synchronization effect according to the collected data, and sends the control data calculated based on the collected data to the servo driver.

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