Delay tolerant motion control axis data generation and transmission system and method

Abstract

The invention discloses a time delay tolerant motion control axis data generation and transmission system and method, and relates to the technical field of cloud PLC control, and the system comprises a PLC motion control process set in a PLC controller and a track parameter pre-calculation process set in a cloud platform; wherein the PLC motion control process comprises a communication information model, a track parameter cache region and an output control unit; the communication information model is used for acquiring structured axis information of the controlled axis; the trajectory parameter pre-calculation process is used for generating a motion trajectory parameter of the controlled axis based on the structured axis information and discretizing the motion trajectory parameter into a sequence data set; the track parameter cache region is used for establishing controlled axis data mapping based on a page table data storage mechanism; and the output control unit is used for generating a control instruction of the controlled shaft based on the controlled shaft data mapping and outputting the control instruction to the controlled shaft. The technical problem that the real-time requirement for the PLC control function is difficult to meet in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of cloud-based PLC control technology, and in particular to a system and method for generating and transmitting motion control axis data with time-delay tolerance. Background Art

[0002] Programmable Logic Controllers (PLCs), core control devices in industrial automation, are irreplaceable for their motion control capabilities in scenarios such as intelligent manufacturing and precision machining. Traditional PLC systems implement control logic using a periodic scanning mechanism, achieving real-time control in industrial sites by cyclically executing input sampling, program calculations, and output refreshes. Cloud-based PLC systems build on traditional PLC systems by leveraging cloud computing and edge computing technologies to achieve deep decoupling of hardware resources from control software. They also utilize communication technologies such as 5G and Time-Sensitive Networking (TSN) to create a distributed control system. Because control instructions in cloud-based PLC systems must be transmitted through multiple stages, from the cloud to the edge to the device, the end-to-end latency of the communication link can impact hard real-time control performance.

[0003] Existing research on cloud-based PLC systems mainly focuses on how to balance the two major demands of efficient utilization of cloud computing resources and real-time guarantee of industrial control, forming a technical route centered on innovation of virtualized PLC deployment methods and optimization of communication link efficiency. The former achieves dynamic adaptation of heterogeneous hardware resources through containerization technology, lightweight virtualization architecture and real-time task scheduling algorithms; the latter focuses on building deterministic transmission channels to reduce network latency. However, research on the optimization of PLC control functions themselves is still insufficient, especially when it comes to high-real-time motion control scenarios, where its shortcomings are more significant. Compared with logic control functions based on sequential execution, PLC motion control needs to handle complex kinematic algorithm solutions, multi-axis collaborative trajectory planning and real-time generation of control instructions, which places high demands on computing power resources. Summary of the Invention

[0004] In order to solve the technical problem that the existing technology is difficult to meet the real-time requirements of the PLC control function itself, the embodiment of the present invention provides a delay-tolerant motion control axis data generation and transmission system and method. The technical solution is as follows:

[0005] On the one hand, a delay-tolerant motion control axis data generation and transmission system is provided, comprising: a PLC motion control process provided in a PLC controller and a trajectory parameter pre-calculation process provided in a cloud platform; wherein the PLC motion control process includes a communication information model, a trajectory parameter cache, and an output control unit; the communication information model is used to obtain structured axis information of a controlled axis and send the structured axis information to the trajectory parameter pre-calculation process; the structured axis information includes an initial state, constraints, and target parameters of the controlled axis; the trajectory parameter pre-calculation process is used to generate motion trajectory parameters of the controlled axis based on the structured axis information at the start of a control cycle of the PLC controller, discretize the motion trajectory parameters into a sequence data set aligned with a scan cycle of the PLC controller, and transmit the sequence data set to the trajectory parameter cache; the trajectory parameter cache is used to establish a controlled axis data mapping based on the sequence data set based on a page table data storage mechanism; the output control unit is used to generate a control instruction for the controlled axis based on the controlled axis data mapping, and output the control instruction to the controlled axis.

[0006] Optionally, the initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and starting posture; the constraint conditions of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode; and the target parameters include: target posture and posture profile.

[0007] Optionally, the page table header of the controlled axis data mapping includes static configuration parameters and dynamic control parameters; the static configuration parameters include the controlled axis index and system extreme value constraints; the dynamic control parameters include the position, speed, acceleration, and torque values ​​of the controlled axis in each scanning cycle of the PLC controller.

[0008] On the other hand, a delay-tolerant motion control axis data generation and transmission method is also provided, which is applied to the delay-tolerant motion control axis data generation and transmission system provided in an embodiment of the present invention; the method includes: obtaining structured axis information of the controlled axis based on the communication information model, and sending the structured axis information to the trajectory parameter precalculation process; the structured axis information includes the initial state, constraints and target parameters of the controlled axis; at the start of the control cycle of the PLC controller, based on the trajectory parameter precalculation process and the structured axis information, generating the motion trajectory parameters of the controlled axis; discretizing the motion trajectory parameters into a sequence data set aligned with the scan cycle of the PLC controller, and transmitting the sequence data set to the trajectory parameter cache; based on a page table data storage mechanism, establishing a controlled axis data mapping based on the sequence data set, and storing the controlled axis data mapping in the trajectory parameter cache; generating a control instruction of the controlled axis based on the output control unit and the controlled axis data mapping, and outputting the control instruction to the controlled axis.

[0009] Optionally, the initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and starting posture; the constraint conditions of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode; and the target parameters include: target posture and posture profile.

[0010] Optionally, the page table header of the controlled axis data mapping includes static configuration parameters and dynamic control parameters; the static configuration parameters include the controlled axis index and system extreme value constraints; the dynamic control parameters include the position, speed, acceleration, and torque values ​​of the controlled axis in each scanning cycle of the PLC controller.

[0011] On the other hand, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method provided in the embodiment of the present invention when executing the computer program.

[0012] On the other hand, a computer-readable storage medium is provided, in which a program code is stored. The program code can be called by a processor to execute the method provided in the embodiment of the present invention.

[0013] The embodiments of the present invention provide a delay-tolerant motion control axis data generation and transmission system and method, which is triggered by the PLC motion control function, separates the calculation process from the real-time control process, avoids the impact of network jitter on control, effectively solves the interference of cloud communication link delay on real-time control, effectively isolates the impact of communication and calculation fluctuations on the real-time control cycle, ensures the real-time performance of the cloud-based PLC motion control system, and alleviates the technical problem of the existing technology that it is difficult to meet the real-time requirements of the PLC control function itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 Schematic diagram of a delay-tolerant motion control axis data generation and transmission system provided by an embodiment of the present invention;

[0016] Figure 2 This is an architecture diagram of a delay-tolerant motion control axis data generation and transmission system provided by an embodiment of the present invention;

[0017] Figure 3 is a schematic diagram of another delay-tolerant motion control axis data generation and transmission system provided by an embodiment of the present invention;

[0018] Figure 4 This is a flow chart of a method for generating and transmitting motion control axis data with time delay tolerance provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0020] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0021] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0022] Example 1

[0023] Figure 1 Schematic diagram of a delay-tolerant motion control axis data generation and transmission system according to an embodiment of the present invention. Figure 1 As shown, it includes: a PLC motion control process 110 set in the PLC controller 100 and a trajectory parameter pre-calculation process 210 set in the cloud platform 200; wherein, the PLC motion control process 110 includes a communication information model 111, a trajectory parameter buffer area 112 and an output control unit 113.

[0024] The PLC controller 100 is connected to the cloud platform 200 via a wireless network.

[0025] Specifically, the communication information model 111 is used to obtain the structured axis information of the controlled axis and send the structured axis information to the trajectory parameter pre-calculation process 210; the structured axis information includes the initial state, constraint conditions and target parameters of the controlled axis;

[0026] The trajectory parameter pre-calculation process 210 is used to generate the motion trajectory parameters of the controlled axis based on the structured axis information at the start of the control cycle of the PLC controller 100, discretize the motion trajectory parameters into a sequence data set aligned with the scan cycle of the PLC controller 100, and transmit the sequence data set to the trajectory parameter buffer 112;

[0027] The trajectory parameter buffer 112 is used to establish a controlled axis data mapping based on a sequence data set based on a page table data storage mechanism;

[0028] The output control unit 113 is configured to generate a control instruction for the controlled axis based on the controlled axis data mapping, and output the control instruction to the controlled axis.

[0029] Figure 2 1 is an architecture diagram of a delay-tolerant motion control axis data generation and transmission system provided according to an embodiment of the present invention. Figure 2 As shown in the figure, within the PLC main process framework, the functional module execution process performs closed-loop control according to the scan cycle. Within each operation cycle, the controlled axis state machine dynamically derives the sub-cycle axis control word based on the current axis status word and the control state of the active functional module instance. The trajectory parameter calculation module, based on the built-in kinematic algorithm, calculates and generates sub-cycle motion parameters while satisfying the axis dynamic parameters (current position, velocity, acceleration, torque, etc.), system extreme value constraints (maximum limit parameters), and multi-dimensional constraints of the target trajectory parameters.

[0030] Specifically, in the embodiment of the present invention, the trajectory parameter pre-calculation process 210 is responsible for calculating the motion trajectory parameters of the entire control process of the controlled axis. Its operation process includes three key steps:

[0031] Initial parameter reception: Obtain the initial configuration of axis characteristic parameters and kinematic parameters from the cloud-based PLC motion control process;

[0032] Trajectory pre-calculation: At the beginning of the control cycle, the trajectory parameters of the entire process are pre-calculated;

[0033] Data transmission: The calculated trajectory parameter set is packaged and transmitted to the cloud PLC side.

[0034] To achieve data synchronization, the system provided by this embodiment of the present invention establishes a buffer area (i.e., trajectory parameter buffer area 112) on the PLC side to store received trajectory parameter data sets. This buffered data is periodically read and updated based on a scan cycle clock trigger mechanism. Ultimately, the PLC combines the buffered queue data with the axis state machine to generate precise axis control instructions.

[0035] In an embodiment of the present invention, the design of the above-mentioned trajectory parameter pre-calculation process dissociation mechanism realizes distributed architecture optimization by hierarchically decoupling the control process and the calculation process. This mechanism separates the trajectory parameter pre-calculation process from the real-time control process into an independent process, and completes the pre-calculation of the full-process motion trajectory at the beginning of the control cycle, so that the kinematic algorithm execution process breaks through the hard real-time limitations of the traditional PLC scanning cycle. Through the data buffering design in the cloud-edge collaborative architecture, the system establishes a cache area on the PLC side to store the pre-generated trajectory parameter set, realizing asynchronous coordination of periodic control instruction generation and single-step cloud computing, thereby effectively isolating the impact of communication delays and computing fluctuations in the cloud computing environment on the real-time performance of motion control.

[0036] Under this architecture, the runtime of the trajectory parameter pre-calculation process is no longer limited by the scan cycle window, allowing the application of more complex algorithms. The PLC-side buffer mode transforms communication transmission delays into a controllable parameter pre-transmission process through an asynchronous data supply mechanism, ensuring the deterministic generation of single-cycle control instructions. This design, through module decoupling and data pre-transmission strategies, provides stability assurance for cloud-based collaborative control systems in response to non-deterministic delays while maintaining the stability of the real-time control cycle.

[0037] In the aforementioned motion control architecture, establishing a standardized communication information model is a core prerequisite for efficient and reliable data exchange between distributed processes. By defining a structured information model encompassing the controlled axis states, constraints, and target parameters, the cloud-based pre-calculation module accurately acquires axis information, establishing a data channel between cloud-based algorithms and control, and providing the fundamental support for implementing this distributed architecture.

[0038] Specifically, the initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and starting posture;

[0039] The constraints of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode;

[0040] Target parameters include: target pose and pose profile.

[0041] Specifically, the controlled axis index: For systems with multiple controlled axes, it is necessary to uniquely identify the controlled axis associated with the current control instruction. The PLC assigns a 16-bit unsigned integer to each controlled axis as a unique identifier, and this architecture can adopt this design.

[0042] PLC scan cycle value: This is the minimum unit of storage and scheduling for pre-calculated full-process trajectory parameters. The generation cycle of PLC motion control instructions and the cycle of axis state machine control are consistent with the PLC scan cycle. Therefore, the time granularity of trajectory parameters should be strictly aligned with the PLC scan cycle.

[0043] System extreme value constraints: Define the physical limits and safety boundaries of the controlled axis, including maximum position boundaries, maximum acceleration, maximum torque, etc., to ensure that trajectory calculations comply with equipment safety specifications and ensure the safety of on-site control equipment and personnel.

[0044] Starting posture: The real-time posture status of the currently controlled axis, including position, velocity, acceleration and torque.

[0045] Dynamic constraint parameters: Constraint parameters for a single motion process of the controlled axis, including runtime constraints such as maximum velocity and maximum acceleration. Provides trajectory constraints for a single motion process.

[0046] Motion Control Mode: The trajectory generation logic is determined based on the control mode. Control modes primarily include cyclic synchronization mode and trajectory profile mode. Cyclic synchronization mode's trajectory generation logic implements point-to-point control based on the starting and target poses, while trajectory profile mode's trajectory generation logic generates a continuous trajectory profile from a discrete sequence of pose points, enabling trajectory profile tracking of the controlled axis.

[0047] Target pose: used for motion control in cyclic synchronization mode as the terminal state constraint of the axis motion trajectory.

[0048] Pose profile: used for motion control in trajectory profile mode. A sequence of discrete pose points consisting of a time-pose binary tuple can form a two-dimensional scatter plot in the plane, which can then be solved by an interpolation algorithm to generate the contour pose of the controlled axis.

[0049] The communication information model described above builds a bridge between cloud-based trajectory pre-calculation and edge-based control instruction generation. The axis identification, scan cycle values, dynamic / extreme value constraints, and target parameters covered in the model fully characterize the multidimensional characteristics of motion control and provide a precise basis for trajectory generation for the pre-calculation module. Furthermore, the scan cycle value synchronization mechanism and system extreme value constraints included in the information model ensure that the calculation results meet both the physical limits of the equipment and the needs of on-site control. This model will provide input for subsequent pre-calculation and asynchronous supply mechanisms, allowing the trajectory parameter sets generated in the cloud to be incorporated into PLC control instructions, ultimately achieving the asynchronous fusion of kinematic algorithms and real-time control.

[0050] In an optional implementation provided by an embodiment of the present invention, the page table header of the controlled axis data mapping includes static configuration parameters and dynamic control parameters;

[0051] Static configuration parameters include the controlled axis index and system extreme value constraints; dynamic control parameters include the position, speed, acceleration, and torque values ​​of the controlled axis in each scan cycle of the PLC controller.

[0052] Specifically, based on the input of the communication information model, the trajectory parameter pre-calculation process in the cloud parses the controlled axis index, scan cycle value, dynamic constraint parameters, and target trajectory data to integrate and form the full-process control parameters. The system extreme value constraints and starting pose defined in the communication information model provide a safety baseline and initial state reference for the pre-calculation, while the dynamic constraint parameters and motion control mode directly determine the motion trajectory generation algorithm. By strictly aligning the minimum time granularity with the scan cycle value in the communication information model, the pre-calculation results can be seamlessly mapped to the edge-side cache architecture, ensuring the timing consistency of the trajectory parameter sequence and the PLC control cycle.

[0053] The data pre-calculation mechanism achieves coordinated optimization of cloud-side trajectory calculation and edge-side real-time control through "computation-control" decoupling and pre-calculation. Pre-calculation is triggered by an independent trajectory parameter pre-calculation process at the start of the control process. Based on the communication information obtained by the PLC motion control process, including the axis characteristic parameters (axis extreme value constraints, starting position, dynamic constraint parameters, and target position), the built-in kinematic algorithm completes the one-time generation of full-process motion trajectory parameters. The calculation process uses the PLC scan cycle as the minimum time granularity, discretizing the trajectory parameters into a sequence data set strictly aligned with the PLC scan cycle. This generates trajectory data available to the control side, decoupling cloud-side non-deterministic latency from real-time control.

[0054] The cached asynchronous supply mechanism achieves the transmission of trajectory parameters and the supply of real-time control instructions through the collaboration of data pre-computation and edge caching. Based on the page table data storage mechanism on the real-time control side, cached asynchronous supply establishes a multi-axis independent data mapping space with the controlled axis index as the page table number, achieving efficient transmission and deterministic supply of trajectory parameters for the entire process. The page table header consists of static configuration parameters and dynamic control parameters. The static configuration parameters include static configuration information such as the controlled axis index and system extreme value constraints. The dynamic control parameters record the kinematic parameter sequence of the entire process trajectory in the order of the scan cycle, including the position, velocity, acceleration, and torque value of the axis in each cycle. The cloud computing module generates the page table data for the entire process at one time and transmits it as a whole to the real-time control side via a high-reliability channel. The control side locates the target page table by the axis index and dynamically reads the corresponding kinematic parameters in the header according to the number of real-time scan cycles to generate the axis control instructions.

[0055] In an embodiment of the present invention, the data pre-calculation mechanism completes the full-process calculation of trajectory parameters at the starting point of the control cycle in one go, thereby separating the calculation process from the real-time control process, avoiding the impact of network jitter on control, and effectively solving the interference of cloud communication link delay on real-time control. The cache asynchronous supply mechanism realizes the real-time data supply of pre-calculated data to the control process by establishing an indexed page table on the control side. By decoupling calculation and control, the execution time of the kinematic algorithm is isolated outside the control cycle, avoiding the impact of algorithm delay on real-time control. Through data pre-calculation and cache asynchronous supply, the non-deterministic delay of the cloud is converted into deterministic preloading on the edge side, effectively isolating the impact of communication and calculation fluctuations on the real-time control cycle, and ensuring the real-time performance of the cloud-based PLC motion control system.

[0056] Example 2

[0057] Figure 3 FIG. 1 is a schematic diagram of another delay-tolerant motion control axis data generation and transmission system provided according to an embodiment of the present invention. Figure 3 As shown, the control process of this multi-axis coordinated motion system is as follows: the two toothed rotating axes maintain identical motion, the two linear axes move toward and away from each other within the physical constraints of the system, and the rotating axes are mounted on the linear axis moving parts. The main axis moves linearly along the track with the linear axis moving parts while also rotating. The rotating axes of this multi-axis system engage and disengage saw teeth during rotation. This system can be optimized based on the delay-tolerant cloud-based PLC motion control architecture designed in this patent.

[0058] For the four controlled axes in the system, their control mode is first configured as cyclic synchronization mode according to the control requirements. The core parameters, including the starting position, target position, system extreme constraints and dynamic constraints, as well as the PLC scan cycle and axis index, are structurally encapsulated according to the communication information model and transmitted to the trajectory pre-calculation module. At the starting point of the control process, the trajectory pre-calculation module is first triggered. Based on the built-in kinematic algorithm, the full-process trajectory parameters of the four axes are generated separately, and the full-process cycle pose sequence of all axes is generated with the PLC scan cycle as the time granularity. The edge-side PLC generates an independent page table for each controlled axis based on the index number, storing the static configuration parameters and dynamic control parameters of the controlled axis. The PLC motion control process reads them in real time in units of scan cycles, and generates real-time control instructions in combination with the controlled axis state machine to complete real-time synchronous control of the four axes.

[0059] Example 3

[0060] Figure 4 This is a flow chart of a method for generating and transmitting motion control axis data with time delay tolerance according to an embodiment of the present invention. This method is applied to a system for generating and transmitting motion control axis data with time delay tolerance according to an embodiment of the present invention. Figure 4 As shown, the method specifically includes the following steps:

[0061] Step S402 : acquiring structured axis information of the controlled axis based on the communication information model, and sending the structured axis information to the trajectory parameter pre-calculation process; the structured axis information includes the initial state, constraint conditions and target parameters of the controlled axis.

[0062] Step S404 : At the start of the control cycle of the PLC controller, motion trajectory parameters of the controlled axis are generated based on the trajectory parameter pre-calculation process and the structured axis information.

[0063] Step S406 : discretize the motion trajectory parameters into a sequence data set aligned with the scan cycle of the PLC controller, and transmit the sequence data set to the trajectory parameter buffer.

[0064] Step S408 : Based on the page table data storage mechanism, a controlled axis data mapping based on the sequence data set is established, and the controlled axis data mapping is stored in the trajectory parameter buffer area.

[0065] Step S410 : generating a control instruction for the controlled axis based on the output control unit and the controlled axis data mapping, and outputting the control instruction to the controlled axis.

[0066] Specifically, the initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and starting posture;

[0067] The constraints of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode;

[0068] Target parameters include: target pose and pose profile.

[0069] Specifically, the page table header of the controlled axis data mapping includes static configuration parameters and dynamic control parameters;

[0070] Static configuration parameters include the controlled axis index and system extreme value constraints; dynamic control parameters include the position, speed, acceleration, and torque values ​​of the controlled axis in each scan cycle of the PLC controller.

[0071] The present invention also provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method provided in the embodiment of the present invention when executing the computer program.

[0072] The present invention further provides a computer-readable storage medium, in which program code is stored. The program code can be called by a processor to execute the method provided in the embodiment of the present invention.

[0073] It should be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0074] The above embodiments can be implemented in whole or in part via software, hardware (e.g., circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are fully or partially performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired means (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0075] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0076] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0077] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0078] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of the device or unit, which can be electrical, mechanical or other forms.

[0079] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0080] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0081] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical disks.

[0082] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A delay-tolerant motion control axis data generation and transmission system, characterized in that: include: A PLC motion control process is provided in the PLC controller and a trajectory parameter pre-calculation process is provided in the cloud platform; wherein the PLC motion control process includes a communication information model, a trajectory parameter buffer area and an output control unit; The communication information model is used to obtain structured axis information of the controlled axis and send the structured axis information to the trajectory parameter pre-calculation process; the structured axis information includes the initial state, constraint conditions and target parameters of the controlled axis; The trajectory parameter pre-calculation process is used to generate the motion trajectory parameters of the controlled axis based on the structured axis information at the start of a control cycle of the PLC controller, discretize the motion trajectory parameters into a sequence data set aligned with a scan cycle of the PLC controller, and transmit the sequence data set to the trajectory parameter buffer; The trajectory parameter buffer is used to establish a controlled axis data mapping based on the sequence data set based on a page table data storage mechanism; The output control unit is configured to generate a control instruction for the controlled axis based on the controlled axis data mapping, and output the control instruction to the controlled axis.

2. The system according to claim 1, wherein: The initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and starting posture; The constraints of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode; The target parameters include: target posture and posture profile.

3. The system according to claim 1, wherein: The page table header of the controlled axis data mapping includes static configuration parameters and dynamic control parameters; The static configuration parameters include the controlled axis index and system extreme value constraints; the dynamic control parameters include the position, speed, acceleration, and torque value of the controlled axis in each scan cycle of the PLC controller.

4. A method for generating and transmitting motion control axis data with time delay tolerance, characterized in that: A method for generating and transmitting motion control axis data with time-delay tolerance according to any one of claims 1 to 3, comprising: Acquiring structured axis information of the controlled axis based on the communication information model, and sending the structured axis information to the trajectory parameter pre-calculation process; the structured axis information includes an initial state, constraint conditions, and target parameters of the controlled axis; At the start of a control cycle of the PLC controller, generating motion trajectory parameters of the controlled axis based on the trajectory parameter pre-calculation process and the structured axis information; Discretizing the motion trajectory parameters into a sequence data set aligned with a scan period of the PLC controller, and transmitting the sequence data set to the trajectory parameter buffer; Based on a page table data storage mechanism, establishing a controlled axis data mapping based on the sequence data set, and storing the controlled axis data mapping in the trajectory parameter buffer area; Based on the output control unit and the controlled axis data mapping, a control instruction for the controlled axis is generated, and the control instruction is output to the controlled axis.

5. The method according to claim 4, characterized in that The initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and starting posture; The constraints of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode; The target parameters include: target posture and posture profile.

6. The method according to claim 4, characterized in that The page table header of the controlled axis data mapping includes static configuration parameters and dynamic control parameters; The static configuration parameters include the controlled axis index and system extreme value constraints; the dynamic control parameters include the position, speed, acceleration, and torque value of the controlled axis in each scan cycle of the PLC controller.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 4 to 6 when executing the computer program.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, which can be called by a processor to execute the method according to any one of claims 4 to 6.

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