Delay-Tolerant Motion Control Axis Data Generation and Transmission System and Method

Abstract

This invention discloses a time-delay-tolerant motion control axis data generation and transmission system and method, relating to the field of cloud-based PLC control technology. It includes: a PLC motion control process set on the PLC controller and a trajectory parameter pre-calculation process set on a cloud platform. The PLC motion control process includes a communication information model, a trajectory parameter buffer, and an output control unit. The communication information model is used to acquire structured axis information 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, discretizing the motion trajectory parameters into a sequence dataset. The trajectory parameter buffer is used to establish a controlled axis data mapping based on a page-table data storage mechanism. The output control unit is used to generate control commands for the controlled axis based on the controlled axis data mapping and output the control commands to the controlled axis. This invention alleviates the technical problem of existing technologies that struggle to meet the real-time requirements of PLC control functions.

Description

Technical Field

[0001] This invention relates to the field of cloud-based PLC control technology, and in particular to a time-delay-tolerant motion control axis data generation and transmission system and method. Background Technology

[0002] Programmable Logic Controllers (PLCs) are core control devices in industrial automation, and their motion control functions are irreplaceable in scenarios such as intelligent manufacturing and precision machining. Traditional PLC systems use a periodic scanning mechanism to implement control logic, completing real-time control in industrial settings through cyclical execution of input sampling, program calculation, and output refresh. Cloud-based PLC systems, building upon traditional PLC systems, leverage cloud computing and edge computing technologies to achieve deep decoupling between hardware resources and control software, and combine 5G, Time-Sensitive Networking (TSN), and other communication technologies to construct a distributed control architecture. Because control commands in cloud-based PLC systems require multi-level transmission through the cloud, edge, and device, end-to-end latency in the communication links can affect hard real-time control performance.

[0003] Current research on cloud-based PLC systems primarily focuses on balancing the efficient utilization of cloud computing resources with the real-time performance assurance of industrial control, resulting in a technical approach mainly based on innovative virtualized PLC deployment methods and optimized communication link efficiency. The former utilizes containerization technology, lightweight virtualization architecture, and real-time task scheduling algorithms to achieve dynamic adaptation of heterogeneous hardware resources; the latter focuses on building deterministic transmission channels to reduce network latency. However, research on optimizing the PLC control functions themselves remains insufficient, especially in high-real-time motion control scenarios, where the shortcomings are more pronounced. Compared to logic control functions that primarily execute sequentially, PLC motion control requires handling complex kinematic algorithm calculations, multi-axis cooperative trajectory planning, and real-time generation of control commands, thus demanding higher computing power. Summary of the Invention

[0004] To address the technical problem that existing technologies struggle to meet the real-time requirements of PLC control functions, this invention provides a time-delay-tolerant motion control axis data generation and transmission system and method. The technical solution is as follows:

[0005] On one hand, a time-delay-tolerant motion control axis data generation and transmission system is provided, comprising: a PLC motion control process set in a PLC controller and a trajectory parameter pre-calculation process set in a cloud platform; wherein, the PLC motion control process includes a communication information model, a trajectory parameter buffer, and an output control unit; the communication information model is used to acquire 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, 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 beginning of the control cycle of the PLC controller, discretize the motion trajectory parameters into a sequence dataset aligned with the scan cycle of the PLC controller, and transmit the sequence dataset to the trajectory parameter buffer; the trajectory parameter buffer is used to establish a controlled axis data mapping based on the sequence dataset based on a paged data storage mechanism; the output control unit is used to generate control commands for the controlled axis based on the controlled axis data mapping and output the control commands to the controlled axis.

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

[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 value of the controlled axis for each PLC controller's scan cycle.

[0008] On the other hand, a time-delay-tolerant motion control axis data generation and transmission method is also provided, applied to the time-delay-tolerant motion control axis data generation and transmission system provided in the embodiments 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 pre-calculation process; the structured axis information includes the initial state, constraint conditions, and target parameters of the controlled axis; at the beginning stage of the 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 dataset aligned with the scan cycle of the PLC controller, and transmitting the sequence dataset to the trajectory parameter buffer; establishing a controlled axis data mapping based on the sequence dataset based on a page table data storage mechanism, and storing the controlled axis data mapping in the trajectory parameter buffer; generating control instructions for the controlled axis based on the output control unit and the controlled axis data mapping, and outputting the control instructions to the controlled axis.

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

[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 value of the controlled axis for each PLC controller's scan cycle.

[0011] On the other hand, an electronic device is also provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method provided in the embodiments of the present invention.

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

[0013] This invention provides a time-delay-tolerant motion control axis data generation and transmission system and method. Triggered by PLC motion control function, the calculation process is separated from the real-time control process, avoiding the impact of network jitter on control, effectively solving the interference of cloud communication link latency on real-time control, effectively isolating the impact of communication and calculation fluctuations on the real-time control cycle, ensuring the real-time performance of cloud-based PLC motion control system, and alleviating the technical problem of existing technologies that are difficult to meet the real-time requirements of PLC control function itself. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of a time-delay-tolerant motion control axis data generation and transmission system provided in an embodiment of the present invention;

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

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

[0018] Figure 4 This is a flowchart of a time-delay-tolerant motion control axis data generation and transmission method provided in an embodiment of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0020] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0021] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0022] Example 1

[0023] Figure 1 This is a schematic diagram of a time-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 112 and an output control unit 113.

[0024] The PLC controller 100 and the cloud platform 200 are connected via wireless network communication.

[0025] Specifically, the communication information model 111 is used to acquire 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, constraints and target parameters of the controlled axis;

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

[0027] Trajectory parameter buffer 112 is used to establish controlled axis data mapping based on sequence datasets based on page table data storage mechanism;

[0028] The output control unit 113 is used to generate control commands for the controlled axis based on the controlled axis data mapping and output the control commands to the controlled axis.

[0029] Figure 2 This is an architecture diagram of a time-delay-tolerant motion control axis data generation and transmission system provided according to an embodiment of the present invention. Figure 2 As shown, within the PLC main process framework, the functional module execution flow is controlled in a closed loop according to the scan cycle. Within each operating cycle, the controlled axis state machine dynamically derives the axis control word for the next cycle based on the current axis state word and the control state of the functional module instance in the active state; the trajectory parameter calculation module, with its built-in kinematic algorithm as the core, calculates and generates the motion parameters for the next cycle under the conditions of satisfying the axis dynamic parameters (current pose, velocity, acceleration, torque, etc.), system extreme value constraints (maximum limit parameters), and multi-dimensional constraints of the target trajectory parameters.

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

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

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

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

[0034] To achieve data synchronization, the system provided in this embodiment of the invention establishes a buffer (i.e., trajectory parameter buffer 112) on the PLC side to store the received trajectory parameter dataset and periodically reads and updates the buffered data according to the scan cycle clock triggering mechanism. Finally, the PLC combines the buffer queue data and the axis state machine to generate precise axis control commands.

[0035] In this embodiment of the invention, the design of the trajectory parameter pre-calculation process decoupling mechanism optimizes the distributed architecture by decoupling the control process and the calculation process in a layered manner. This mechanism separates the trajectory parameter pre-calculation process from the real-time control process into an independent process, completing the pre-calculation of the entire motion trajectory at the beginning of the control cycle. This allows the kinematic algorithm execution process to overcome the hard real-time limitation of the traditional PLC scanning cycle. Through the data buffer design in the cloud-edge collaborative architecture, the system establishes a cache on the PLC side to store the pre-generated trajectory parameter set, achieving asynchronous coordination between the generation of periodic control commands and single-step cloud calculations. This effectively isolates the impact of communication latency and computational 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 for the application of more complex algorithms. The PLC-side buffer mode, through an asynchronous data supply mechanism, transforms communication transmission latency into a controllable parameter pre-transmission process, ensuring the deterministic generation of single-cycle control commands. This design, through module decoupling and data pre-transmission strategies, provides a stability guarantee for cloud-based collaborative control systems to cope with non-deterministic latency 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 achieving efficient and reliable data interaction between distributed processes. By defining a structured information model that includes the controlled axis state, constraints, and target parameters, it is possible to ensure that the cloud-based pre-computation module accurately acquires axis information, thus building a data channel between the cloud-based algorithm and control, which is also the fundamental support for realizing this distributed architecture.

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

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

[0040] The target parameters include: target pose and pose contour.

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

[0042] PLC scan cycle value: The smallest unit for storage and scheduling after the pre-calculated full-process trajectory parameters are obtained. The generation cycle of PLC motion control instructions and the cycle cycle of axis state machine control are consistent with the PLC scan cycle. Therefore, the time granularity of the 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 boundary, 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] Initial pose: The real-time pose state 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 speed and maximum acceleration during the process. They provide trajectory constraints for a single motion process.

[0046] Motion control mode: The trajectory generation logic is determined based on the control mode. The control modes mainly include cyclic synchronization mode and trajectory contour mode. The trajectory generation logic of cyclic synchronization mode is to achieve point-to-point control based on the initial pose and the target pose; while the trajectory generation logic of trajectory contour mode is to generate a continuous trajectory contour through a discrete sequence of pose points to achieve trajectory contour tracking of the controlled axis.

[0047] Target pose: Used for motion control in cyclic synchronous mode, serving as the final state constraint for axis motion trajectory.

[0048] Pose contour: Used for motion control of trajectory contour patterns. It consists of a discrete pose point sequence composed of time-pose tuples, which can form a two-dimensional scatter plot in the plane. Then, the contour pose of the controlled axis can be generated by interpolation algorithm.

[0049] The aforementioned communication information model bridges the gap between cloud-based trajectory pre-calculation and edge control command generation. The model, encompassing axis identifiers, scan cycles, dynamic / extreme constraints, and target parameters, comprehensively characterizes the multidimensional features of motion control, providing the pre-calculation module with accurate trajectory generation data. Simultaneously, the scan cycle synchronization mechanism and system extreme constraints included in the information model ensure that the calculation results conform to both the physical limits of the equipment and the requirements of on-site control. This model will provide input for subsequent pre-calculation and asynchronous supply mechanisms, enabling the trajectory parameter set generated in the cloud to enter the PLC control commands, ultimately achieving the asynchronous fusion of kinematic algorithms and real-time control.

[0050] In an optional 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 value of the controlled axis during the scan cycle of each PLC controller.

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

[0053] The data pre-computation mechanism achieves coordinated optimization of cloud-based trajectory calculation and edge-based real-time control through "computation-control" decoupling and pre-computation. Pre-computation is triggered at the start of the control flow by an independent trajectory parameter pre-computation process. Based on the characteristic parameters of the axes (axis extreme constraints, initial pose, dynamic constraint parameters, and target pose) obtained from the communication information acquired by the PLC motion control process, the entire motion trajectory parameters are generated in one go using a built-in kinematic algorithm. During the calculation process, the trajectory parameters are discretized into a set of sequential data strictly aligned with the PLC scan cycle, using the PLC scan cycle as the smallest granularity of time. This yields usable trajectory data on the control side, achieving decoupling between cloud-based nondeterministic latency and real-time control.

[0054] The asynchronous provisioning mechanism utilizes data pre-computation and edge caching to transmit trajectory parameters and supply real-time control commands. Based on the real-time control side's page-table data storage mechanism, it establishes a multi-axis independent data mapping space using the controlled axis index as the page table number, enabling efficient transmission and deterministic supply of trajectory parameters throughout the entire process. The page table header consists of static configuration parameters and dynamic control parameters. Static configuration parameters include the controlled axis index, system extreme constraints, and other static configuration information. Dynamic control parameters record the kinematic parameter sequence of the entire trajectory in scan cycle order, including the position, velocity, acceleration, and torque values ​​of each axis in each cycle. The cloud computing module generates the entire process's page table data at once and transmits it to the real-time control side via a high-reliability channel. The control side locates the target page table using the axis index and dynamically reads the corresponding kinematic parameters from the header according to the real-time scan cycle number to generate axis control commands.

[0055] In this embodiment of the invention, the data pre-calculation mechanism completes the entire calculation of trajectory parameters at the start of the control cycle in one go, separating the calculation process from the real-time control process. This avoids the impact of network jitter on control and effectively solves the interference of cloud communication link latency on real-time control. The asynchronous cache provisioning mechanism establishes indexed page tables on the control side to achieve real-time data supply of pre-calculated data to the control process. By decoupling computation and control, the execution time of kinematic algorithms is isolated outside the control cycle, avoiding the impact of algorithm latency on real-time control. Through data pre-calculation and asynchronous cache provisioning, the nondeterministic latency of the cloud is transformed into deterministic preloading on the edge side, effectively isolating the impact of communication and computation 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 This is a schematic diagram of another time-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 flow of this multi-axis cooperative motion system is mainly as follows: the motion states of the two toothed rotary axes are completely consistent, and the two linear axes move in opposite directions within the physical boundary constraints of the system. The rotary axes are mounted on the linear axis moving parts, and the shaft body moves linearly along the track with the linear axis moving parts while simultaneously rotating. During the rotation of this multi-axis system, the rotary axes engage and disengage their teeth. Based on the time-delay-tolerant cloud-based PLC motion control architecture designed in this patent, the system can be optimized.

[0058] For the four controlled axes in the system, the control mode is first configured as a cyclic synchronization mode according to the control requirements. Core parameters, including initial pose, target pose, system extreme constraints and dynamic constraints, as well as the PLC scan cycle and axis index, are structured and encapsulated according to the communication information model and transmitted to the trajectory pre-calculation module. At the start of the control flow, the trajectory pre-calculation module is triggered to generate the full-process trajectory parameters for each of the four axes based on the built-in kinematic algorithm, and to generate the full-process pose sequence of all cycles for each axis 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 this in real time in units of scan cycles, and combines it with the controlled axis state machine to generate real-time control instructions, completing the real-time synchronous control of the four axes.

[0059] Example 3

[0060] Figure 4 This is a flowchart illustrating a time-delay-tolerant motion control axis data generation and transmission method according to an embodiment of the present invention. This method is applied to the time-delay-tolerant motion control axis data generation and transmission system provided in this embodiment of the invention. Figure 4 As shown, the method specifically includes the following steps:

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

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

[0063] Step S406: Discretize the motion trajectory parameters into a sequence dataset aligned with the scan cycle of the PLC controller, and transfer the sequence dataset to the trajectory parameter buffer.

[0064] Step S408: Based on the page table data storage mechanism, establish a controlled axis data mapping based on the sequence dataset, and store the controlled axis data mapping in the trajectory parameter cache area.

[0065] Step S410: Based on the data mapping between the output control unit and the controlled axis, generate control commands for the controlled axis and output the control commands to the controlled axis.

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

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

[0068] The target parameters include: target pose and pose contour.

[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 value of the controlled axis during the scan cycle of each PLC controller.

[0071] The present invention also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method provided in the embodiments of the present invention.

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

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

[0074] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. 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 (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0075] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply 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 recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0077] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0078] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0079] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

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

[0081] If the aforementioned 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 this invention, or the part that contributes to the prior art, or a part 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (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 variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A time-delay-tolerant motion control axis data generation and transmission system, characterized in that, include: The PLC motion control process is set on the PLC controller and the trajectory parameter pre-calculation process is set on the cloud platform; wherein, the PLC motion control process includes a communication information model, a trajectory parameter buffer, and an output control unit; The communication information model is used to acquire 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, 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 beginning of the control cycle of the PLC controller, discretize the motion trajectory parameters into a sequence dataset aligned with the scan cycle of the PLC controller, and transmit the sequence dataset to the trajectory parameter buffer. The trajectory parameter cache is used to establish a controlled axis data mapping based on the sequence dataset, based on a page table-based data storage mechanism. The output control unit is used to generate control commands for the controlled axis based on the controlled axis data mapping, and output the control commands to the controlled axis; The initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and initial pose; The constraints of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode; The target parameters include: target pose and pose contour; 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 during the scan cycle of each PLC controller.

2. A method for generating and transmitting motion control axis data with time delay tolerance, characterized in that, The method is applied to the time-delay-tolerant motion control axis data generation and transmission system of claim 1; the method includes: The structured axis information of the controlled axis is obtained based on the communication information model, and the structured axis information is sent to the trajectory parameter pre-calculation process; the structured axis information includes the initial state, constraints and target parameters of the controlled axis; At the beginning of the control cycle of the PLC controller, the motion trajectory parameters of the controlled axis are generated based on the trajectory parameter pre-calculation process and the structured axis information. The motion trajectory parameters are discretized into a sequence dataset aligned with the scan cycle of the PLC controller, and the sequence dataset is transmitted to the trajectory parameter buffer. Based on the page table data storage mechanism, a controlled axis data mapping is established based on the sequence dataset, and the controlled axis data mapping is stored in the trajectory parameter cache area; Based on the data mapping between the output control unit and the controlled axis, a control command for the controlled axis is generated, and the control command is output to the controlled axis. The initial state of the controlled axis includes: controlled axis index, PLC scan cycle value, and initial pose; The constraints of the controlled axis include: system extreme value constraints, dynamic constraint parameters, and motion control mode; The target parameters include: target pose and pose contour; 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 during the scan cycle of each PLC controller.

3. 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, when executing the computer program, implements the method as described in claim 2.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be invoked by a processor to execute the method as described in claim 2.

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