Distributed Servo Control Nodes for Faster Robot Controller Maintenance
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Solution Overview
Problem
Current industrial robot controllers face high integration costs due to centralized control, leading to high repair costs and inefficient workload management, which can result in production downtime and increased maintenance expenses.
Innovation Solution
A distributed multi-node control system with asymmetry dual-kernel architectures and sharing storage areas, where multiple control nodes and servo nodes are communicatively coupled, allowing for real-time state monitoring and adjustment of servo nodes based on preset intervals, and enabling efficient distribution of control instructions and data using Linux and real-time operating systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a centralized controller is used with high integration, then control functionality is consolidated, but repair cost increases and maintenance becomes difficult
Solution Approach 1:
The controller is divided into multiple independent control nodes (first control node, second control node, etc.), each capable of independent operation. This segmentation allows individual nodes to be replaced or repaired without affecting the entire system, directly reducing repair costs and maintenance difficulty while maintaining consolidated control functionality through inter-node communication.
2Device complexity
If a centralized controller is used with high integration, then control functionality is consolidated, but control efficiency decreases due to heavy workload
Solution Approach 1:
The controller is divided into multiple independent control nodes (first control node, second control node, etc.), each capable of independent operation. This segmentation allows individual nodes to be replaced or repaired without affecting the entire system, directly reducing repair costs and maintenance difficulty while maintaining consolidated control functionality through inter-node communication.
Solution Approach 2:
The system dynamically allocates control tasks across multiple control nodes based on workload requirements. The scheduling control node can adjust task distribution in real-time, allowing the system to adapt to varying computational demands and maintain high control efficiency even as the system scales.
3Productivity
If control nodes are distributed across multiple nodes, then workload is distributed and control efficiency improves, but system complexity increases
Solution Approach 1:
Each control node is designed with identical dual-kernel architecture (Linux kernel + real-time kernel), allowing any node to perform any control function. This universality simplifies system architecture by eliminating the need for specialized node configurations, reducing overall system complexity while maintaining distributed control efficiency.
Solution Approach 2:
The system dynamically allocates control tasks across multiple control nodes based on workload requirements. The scheduling control node can adjust task distribution in real-time, allowing the system to adapt to varying computational demands and maintain high control efficiency even as the system scales.
4Reliability
If dual-kernel architecture is used in control nodes, then system functionality and real-time performance are improved, but device complexity increases
Solution Approach 1:
Each control node is designed with identical dual-kernel architecture (Linux kernel + real-time kernel), allowing any node to perform any control function. This universality simplifies system architecture by eliminating the need for specialized node configurations, reducing overall system complexity while maintaining distributed control efficiency.
Solution Approach 2:
The controller is divided into multiple independent control nodes (first control node, second control node, etc.), each capable of independent operation. This segmentation allows individual nodes to be replaced or repaired without affecting the entire system, directly reducing repair costs and maintenance difficulty while maintaining consolidated control functionality through inter-node communication.
Data Source
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AI summary
A distributed multi-node control system (100) and method, relating to the field of control technology. The distributed multi-node control system (100) comprises: a first control node (11), a second control node (12), a plurality of servo nodes (20) and a plurality of execution devices (30), the first control node (11) and the second control node (12) being respectively communicationally connected to the plurality of servo nodes (20), the servo nodes (20) being electrically connected to the execution devices (30) and configured to control operating states of the corresponding execution devices (30), the first control node (11) being configured to control an operating state of at least one first servo node (21) among the plurality of servo nodes (20), the second control node (12) being configured to control an operating state of at least one second servo node (22) among the plurality of servo nodes (20). A plurality of control nodes (10) share real-time computation, so as to implement distributed control and accelerate the computing speed. The multi-node coordinated system is easy to maintain and saves the maintenance costs.