CN100517144C - Distributed type open system structure digital control system - Google Patents
Distributed type open system structure digital control system Download PDFInfo
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- CN100517144C CN100517144C CNB2007100536589A CN200710053658A CN100517144C CN 100517144 C CN100517144 C CN 100517144C CN B2007100536589 A CNB2007100536589 A CN B2007100536589A CN 200710053658 A CN200710053658 A CN 200710053658A CN 100517144 C CN100517144 C CN 100517144C
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Abstract
The invention relates to a distributed open system architecture numerical control system, which comprises a first industry PC computer, a second industry PC computer, and a multi-functional interface board. The first industry PC computer can be used in numerical control processing programs and used for inputting, editing, displaying and managing of a PLC program, and the first industry PC computer also can be used for editing the PLC program to generate and to send PLC ladder diagrams or C language programs. The second industry PC computer is connected with a supervisory computer by an Ethernet and can be used for processing the decoding, cutter compensation, speed processing, interpolation, and position control of the numerical processing program, and also used for receiving the PLC ladder diagrams or the C language programs. The multi-functional interface board is connected with a lower computer and can be used for running the PLC ladder diagrams or the C language programs, for inputting and outputting switch values, and for transmitting analog, pulse or numeral signals. The invention provides the distributed open system architecture numerical control system which ensures that the hardware assembly of the system is flexible and the allocation of the software functions is more reasonable, thereby more easily meeting the requirements of openness.
Description
Technical field
The present invention relates to numerical control field, more particularly, relate to a kind of digital control system of distributed type open system structure.
Background technology
The architecture of present machine tool numerical control system mainly contains following several:
1. closed digital control system.Adopt special chip, must use special developing instrument, function expansion, change and maintenance difficult.This type systematic mainly contains: FANUC 0 series, the M50 of Mitsubishi (MITSUBISHI), Siemens (Siemens) 810.
2. the digital control system in open type of " PC embeds NC " structure.The numerical control hardware and software technology abandoning accumulating for many years is reluctant by digital control system manufacturer, wants to utilize the abundant software resource of computing machine again and development product.Therefore, on the basis of existing closed digital control system, increase a PC, be used for the demonstration, editor, file management of digital control system etc.This system has certain opening, but because the architecture of its NC part is not open, the user can't the interventional systems core.This type systematic complex structure, powerful costs an arm and a leg.As FANUC16i, 18i, 21i system, Siemens 840D system, Num1060 system.
3. the digital control system in open type of " NC embeds PC " structure.This digital control system is the structure of PC+ motion control card.Usually adopt high-speed dsp as CPU, have very strong motion control and PLC control ability, and can use separately.Open function library is developed the required control system of structure voluntarily for the user under the WINDOWS platform.As U.S. Delta Tau company with the PMAC-NC digital control system of PMAC multi-axis motion control card structure, Japanese MAZAK company with MAZATROL 640 CNC of MELDASMAGIC 64 structures of Mitsubishi Electric etc.
4. full software-type digital control system in open type
Adopt single PC, CNC software all is contained in the PC, and hardware components only is the standardised generic interface between computing machine and servo driving and the exterior I/O.It is this that he offers the selection and the dirigibility of user's maximum.The user can utilize open CNC kernel, develops required energy, constitutes various types of digital control systems.Its typical products has the PA8000 NT and the HEIDENHAIN iTNC 530 of the OpenCNC of U.S. MDSI company, German PowerAutomation company.
But the digital control system of these structures is not enough as first kind and second kind of opening, and the third and the 4th kind of performance are difficult to improve.Particularly the PLC computing of digital control system need take a large amount of cpu resources, thereby has reduced system performance, and some system adopts independently PLC, has then increased system cost and complicacy.The common more complicated of modern and open high-performance cnc system software needs high performance hardware platform as the basis, and along with the further raising of digital control system performance, the system of single CPU structure has been difficult to satisfy this demand.
Summary of the invention
For problems such as the opening that solves existence of the prior art, performances, the present invention proposes a kind of digital control system of distributed type open system structure, finish the computing of PLC by the secondary scene programmable gate array of multifunctional access oralia, thereby increased system dirigibility, improved the response speed of PLC, reduce the interpolation cycle of system, improved the performance of digital control system thus.
To achieve these goals, the invention provides a kind of digital control system of distributed type open system structure, comprising:
First Industrial PC Computer is used for input, editor, demonstration and the program management of digital control system job sequence and PLC program, and with behind the described digital control system PLC program editing, generates and sends PLC ladder diagram or C programmer;
Second Industrial PC Computer is connected with described first Industrial PC Computer by Ethernet, and PLC ladder diagram or C programmer are handled and received to the decoding, cutter compensation, velocity process, interpolation and the position control that are used to handle digital control system (processing) program;
The multifunctional access oralia is connected with described second Industrial PC Computer, is used to move the I/O of described PLC ladder diagram or C programmer, switching value, and the transmission of analog quantity, pulsed quantity or digital quantity signal.
Described multifunctional access oralia is to be connected by PC104 bus or pci bus with described second Industrial PC Computer.
Described multifunctional access oralia comprises:
The primary scene programmable gate array, its inner dual-ported memory as the output buffer cell of data transmission channel, interpolation and the PLC operation result of described second Industrial PC Computer and secondary scene programmable gate array and as with the interface of servo-driver;
The RAM storer is used to store described PLC ladder diagram or C programmer;
Secondary scene programmable gate array, mutual with described primary scene programmable gate array, be used to generate the NIOS system, and as the interface of main shaft, handheld box, numerical control engineering panel and input, output, and described NIOS system moves described PLC ladder diagram or C programmer;
The FLASH storer is used to deposit the system program of secondary scene programmable gate array NIOS.
Described digital control system also comprises:
The servo-driver interface is with described primary scene programmable gate array interface;
Adopt the servo-driver of aanalogvoltage output interface, communicate by letter with described primary scene programmable gate array by the servo-driver interface, be used to receive each the rate signal of primary scene programmable gate array by D/A converter output, and further, described primary scene programmable gate array reads the position and the rate signal of servomotor, transfers to described second Industrial PC Computer and handles.
Described digital control system also comprises:
The servo-driver interface is with described primary scene programmable gate array interface;
Servo-driver, communicate by letter with described primary scene programmable gate array by the servo-driver interface, be used for pulse signal and direction signal that the received pulse frequency is directly proportional with each movement velocity, and further, described primary scene programmable gate array reads the position and the rate signal of servomotor, transfers to described second Industrial PC Computer and handles.
Described digital control system also comprises:
The servo-driver interface, with described primary scene programmable gate array interface, and with real-time ethernet exchange interface, real-time ethernet switch and star industry ethernet interface;
Each servo-driver, communicate by letter with described primary scene programmable gate array by star industry ethernet interface, be used to receive the PLC logic operation result of each rate signal and described secondary scene programmable gate array, and described primary scene programmable gate array reads the position signalling of servomotor and the input signal of I/O interface unit by Ethernet annular bus, transfers to described second computing machine and handles.
Described digital control system also comprises:
The servo-driver interface, with described primary scene programmable gate array interface, and with the loop ethernet bus interface;
Each servo-driver, communicate by letter with described primary scene programmable gate array by the loop ethernet bus interface, be used to receive the PLC logic operation result of each rate signal and described secondary scene programmable gate array, and described primary scene programmable gate array reads the position signalling of servomotor and the input signal of I/O interface unit by Ethernet annular bus, transfers to described second computing machine and handles.
Therefore, the present invention proposes a kind of digital control system of distributed type open system structure, make that the hardware of system is flexible for installation, software function is distributed rationally, the requirement of easier satisfied opening.Particularly the FPGA2 that the computing of PLC is put into multifunction board finishes, increased on the one hand system dirigibility, improved the response speed of PLC, can reduce the interpolation cycle of system on the other hand again, thereby improve the performance of digital control system.
Description of drawings
Fig. 1 is the structural representation of the digital control system of distributed type open system structure of the present invention.
Shown in Figure 2 is the servo topological structure synoptic diagram of the external analog quantity interface of digital control system of distributed type open system structure.
Shown in Figure 3 is the servo topological structure synoptic diagram of the external pulsed quantity interface of digital control system of distributed type open system structure.
Fig. 4 is a distributed type open system structure digital control system star industry ethernet topological structure synoptic diagram.
Fig. 5 is a distributed type open system structure digital control system loop ethernet bus topolopy synoptic diagram.
Embodiment
Be illustrated in figure 1 as the structural representation of the digital control system of distributed type open system structure of the present invention.Shown in the digital control system of distributed type open system structure comprise first Industrial PC Computer 101, be used for input, editor, demonstration and the program management of digital control system job sequence and PLC program, and, generate and send PLC ladder diagram or C programmer with behind the described digital control system PLC program editing; Second Industrial PC Computer 102 is connected with described first Industrial PC Computer 101 by Ethernet 100, and PLC ladder diagram or C programmer are handled and received to the decoding, cutter compensation, velocity process, interpolation and the position control that are used to handle digital control system (processing) program; Multifunctional access oralia 103 is connected with described second Industrial PC Computer 102, is used to move the I/O of described PLC ladder diagram or C programmer, switching value, and the transmission of analog quantity, pulsed quantity or digital quantity signal.
This digital control system is made up of three big modules: first Industrial PC Computer 101 (promptly being referred to as host computer), second Industrial PC Computer 102 (being slave computer) and multifunctional access oralia 103.Host computer is the Industrial PC of a high performance X86 architecture, more than the CPU frequency 600M, and more than the internal memory 256M, operation WinCE or other Windows operating system, storage medium 30 and USB device 40 such as external display 10, keyboard 20, CF card.
Slave computer also is the Industrial PC of a high performance X86 architecture, more than the CPU frequency 300M, and more than the internal memory 256M, the stronger operating systems of real-time such as operation DOS, Linux, UC/OS.Slave computer is connected by the Ethernet that it carries with host computer.
It can be analog quantity, pulsed quantity that multifunctional access oralia 103 is connected with servo-driver signaling interface 104, also can be bus or other digital quantity form, and the form that can reach servo-driver is as required selected by the developer.Mode by this servo-driver signaling interface output data is in two kinds of situation:
Digital control system for nonnumeric amount interface, the interpolation output command that slave computer is sent here, mode by pulse or analog quantity outputs in the servo-driver, receive the motor code-disc signal that servo-driver is sent here simultaneously, detect or as the position feedback control signal of motor as the physical location of motor.
For the digital control system of digital quantity interface, the PLC operation result that interpolation output command that slave computer is sent here and FPGA2 send here is delivered in the built-in two-port RAM of FPGA1 simultaneously, packs then and exports by bus mode.
The digital control system of distributed type open system structure of the present invention is than its further improvement of traditional digital control system: after host computer has been finished the editor of digital control system PLC, in the memory such as RAM that PLC ladder diagram that generates or C programmer download to the multifunctional access oralia, move by the NIOS system among the FPGA2, this mode does not take the resource of upper and lower computer CPU, independently the PLC price is cheaper than adopting, and have better opening and dirigibility, integrated level is also better.
Except the function of host computer, slave computer and the multifunctional access oralia of foregoing description, also comprising following described each function.The task division of host computer, slave computer and multifunctional access oralia is as follows:
(1) the host computer task comprises:
The program editing module.Major function has:
The basic edit function of character;
The shearing of program, stickup, block copy, block delete, row deletion, preserve, deposit in addition etc.;
The deletion of program, copy etc.;
Select current job sequence;
Edit current job sequence.
The systematic parameter administration module.Major function has:
System's global parameter
Channel parameters
The axle parameter
The PLC controlled variable
Geometric error compensation parameter (two, three-dimensional)
User Defined parameter (temperature compensation, power etc.)
The cutter parameters administration module.Major function comprises the editor and the management of cutter parameters, comprises tool radius, tool wear, tool length, cutter life or the like.
The ladder diagram editor module.Major function has:
The editor of ladder diagram;
The compiling of ladder diagram;
The download of ladder diagram;
The emulation of ladder diagram.
Program figure analog simulation (verifying function)
3 dimension emulation of wire-frame graphics;
The machining area defined function.
System state monitors;
The lathe coordinate system coordinate shows;
The workpiece coordinate system coordinate shows;
The relative coordinate system coordinate shows;
Above-mentioned coordinate comprises program location, physical location, residue feeding, offset, speed of feed;
Current job sequence shows;
The G function that activates shows;
The M function that activates shows;
Process time;
Speed of feed;
Spindle speed (main shaft state);
Feeding multiplying power and main shaft multiplying power;
Current executive routine shows;
Program number and channel number;
The capable information of executive routine.
The coordinate system management
Machine coordinates editor;
The workpiece coordinate system editor;
The G53 function
Relative coordinate system editor.
System's history management
System's historical record is checked;
System's historical record deletion.
Conditions of machine tool shows and diagnostic function
Given and the physical location demonstration of lathe;
The I/O state shows;
The servo-drive system state shows;
Fault diagnosis functions.
(2) slave computer task
1) G code is explained
Realize leading the explanation;
The breakpoint of program is on-the-spot to be recovered;
The rollback function
The self defining keywords explanation function;
G code expanded function interface.
2) cutter compensation function
Left side cutter is mended function;
Right cutter is mended function;
The length compensation function.
3) interpolation function
The speed pre-service;
Linear interpolation;
Circular interpolation;
Curve interpolating.
4) position control function
Location of instruction output;
Position feedback;
Site error is calculated.
(3) multifunction module task
The management of engineering panel;
Main shaft control;
The PLC logical operation;
Input and output control;
Axle output control.
Be the servo topological structure synoptic diagram of the external analog quantity interface of digital control system of distributed type open system structure as shown in Figure 2.At this moment, the servo-driver signaling interface of multifunctional access oralia 103 is the analog electrical die mould, adopts the servo-driver 302 of aanalogvoltage output interface.FPGA1 outputs to servo-driver 302 with each rate signal in the dual port RAM by D/A converter as shown in the figure, and FPGA1 reads the position and the rate signal of servomotor 303 simultaneously, delivers to dual port RAM, transfers to slave computer 102 and handles.
Be the external pulsed quantity interface of distributed type open system structure digital control system servo-driver topological structure synoptic diagram as shown in Figure 3.At this moment, the servo-driver signaling interface of multifunctional access oralia 103 is an impulse type, adopts impulse type to add the servo-driver of direction type interface.FPGA1 converts each rate signal in the dual port RAM to pulse and the direction signal that is directly proportional with the axle movement velocity as shown in the figure, output to servo-driver 302, read the position and the rate signal of servomotor 303 simultaneously, deliver to dual port RAM, transfer to slave computer 102 and handle.
Fig. 4 is a distributed type open system structure digital control system star industry ethernet topological structure synoptic diagram.At this moment, the servo-driver signaling interface of multifunctional access oralia 103 is the star industry ethernet, adopts the servo-driver 502 of bus-type interface.FPGA1 sends to each rate signal and the PLC logic operation result of FPGA2 in the dual port RAM in each servo-driver 502 and the I/O interface unit 504 through switch opertaing device such as real-time Ethernet switch 200 by star industry ethernet 300, read the position signalling of servomotor 503 and the input signal of I/O interface unit by industry ethernet simultaneously, deliver to dual port RAM, transfer to slave computer 102 and handle.
Fig. 5 is a distributed type open system structure digital control system loop ethernet bus topolopy synoptic diagram.At this moment, the servo-driver signaling interface of multifunctional access oralia 103 is the loop ethernet bus.FPGA1 sends to each rate signal and the PLC logic operation result of FPGA2 in the dual port RAM in each servo-driver 402 and the PLC interface unit 404 by Ethernet annular bus 400, read the position signalling of servomotor 403 and the input signal of I/O interface unit 405 by Ethernet annular bus simultaneously, deliver to dual port RAM, transfer to slave computer and handle.
Therefore, the present invention connects by the Ethernet that the upper and lower machine adopts the X86 industrial computer to carry, and has good dirigibility; And total system has adopted the distributed frame of two CPU and double FPGA, and it is more reasonable that software task distributes, and task is relatively independent, helps improving development efficiency; Especially middle PLC ladder diagram or C programmer have been improved the sweep velocity of PLC, and have not been taken the upper and lower computer cpu resource by the operation of the NIOS system among the FPGA2, can reduce interpolation cycle, the raising digital control system performance of system, integrated level height, cheap.Host computer adopts WINDOWS operating system, and slave computer can adopt LINUX, DOS or the good operating system of other real-time, has taken into account open requirement; The interface signal of servo-driver can be analog quantity, pulsed quantity, also can adopt digital quantity, and as star or annular bus form based on ethernet technology, the developer reaches the form of servo-driver as required by selecting;
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (9)
1, a kind of digital control system of distributed type open system structure is characterized in that comprising:
First Industrial PC Computer is used for input, editor, demonstration and the program management of nc program and digital control system PLC program, and with behind the described digital control system PLC program editing, generates and sends PLC ladder diagram or C programmer;
Second Industrial PC Computer is connected with described first Industrial PC Computer by Ethernet, and PLC ladder diagram or C programmer are handled and received to the decoding, cutter compensation, velocity process, interpolation and the position control that are used to handle nc program;
The multifunctional access oralia is connected with described second Industrial PC Computer, is used to move described PLC ladder diagram or C programmer, the I/O of switching value, and the signal transmission of simulation, pulse or numeral;
Described multifunctional access oralia comprises:
The primary scene programmable gate array, its inner dual-ported memory as the output buffer cell of data transmission channel, interpolation and the PLC operation result of described second Industrial PC Computer and secondary scene programmable gate array and as with the interface of servo-driver;
The RAM storer is used to store described PLC ladder diagram or C programmer;
Secondary scene programmable gate array, mutual with described primary scene programmable gate array, be used to generate the NIOS system, and as the interface of main shaft, handheld box, numerical control engineering panel and input, output, and described NIOS system moves described PLC ladder diagram or C programmer;
The FLASH storer is used to deposit the system program of secondary scene programmable gate array NIOS.
2, digital control system according to claim 1 is characterized in that described multifunctional access oralia is to be connected by PC104 bus or pci bus with described second Industrial PC Computer.
3, digital control system according to claim 1 is characterized in that described multifunctional access oralia comprises: the servo-driver signaling interface of analog quantity is connected with described primary scene programmable gate array.
4, digital control system according to claim 3 is characterized in that also comprising:
Servo-driver, servo-driver signaling interface by described analog quantity is communicated by letter with described primary scene programmable gate array, be used to receive each the rate signal of primary scene programmable gate array by D/A converter output, and further, described primary scene programmable gate array reads the position and the rate signal of servomotor, transfers to described second Industrial PC Computer and handles.
5, digital control system according to claim 1 is characterized in that described multifunctional access oralia comprises: the servo-driver signaling interface of pulsed quantity is connected with described primary scene programmable gate array.
6, digital control system according to claim 5 is characterized in that also comprising:
Servo-driver, servo-driver signaling interface by pulsed quantity is communicated by letter with described primary scene programmable gate array, be used for pulse signal and direction signal that the received pulse frequency is directly proportional with each movement velocity, and further, described primary scene programmable gate array reads the position and the rate signal of servomotor, transfers to described second Industrial PC Computer and handles.
7, digital control system according to claim 1 is characterized in that described multifunctional access oralia comprises: the servo-driver signaling interface of digital quantity is connected with described primary scene programmable gate array.
8, digital control system according to claim 7 is characterized in that also comprising:
Servo-driver, servo-driver signaling interface by described digital quantity is communicated by letter with described primary scene programmable gate array, be used to receive the PLC logic operation result of each rate signal and described secondary scene programmable gate array, and described primary scene programmable gate array reads the position signalling of servomotor and the input signal of I/O interface unit by bus, transfers to described second Industrial PC Computer and handles.
9, digital control system according to claim 1 is characterized in that described first Industrial PC Computer and described second Industrial PC Computer are respectively the X86 industrial computers that carries Ethernet.
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| CNB2007100536589A CN100517144C (en) | 2007-10-26 | 2007-10-26 | Distributed type open system structure digital control system |
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| CNB2007100536589A CN100517144C (en) | 2007-10-26 | 2007-10-26 | Distributed type open system structure digital control system |
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| CN100517144C true CN100517144C (en) | 2009-07-22 |
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| CN102650861B (en) * | 2012-05-04 | 2015-04-15 | 深圳市矩形科技有限公司 | PLC ladder diagram code hardware problem solving method |
| CN102662332B (en) * | 2012-05-23 | 2015-01-07 | 西安交通大学 | Disturbing load simulation device and method for servo feeding system of numerical control machine tool |
| CN103809523B (en) * | 2012-11-08 | 2016-08-17 | 北京计算机技术及应用研究所 | Multi-channel digital control system and multi-way contral method thereof |
| CN102914998B (en) * | 2012-11-20 | 2018-03-09 | 常州数控技术研究所 | The axle digital control system in open type of built-in small four |
| CN103034171B (en) * | 2012-12-18 | 2016-01-20 | 南京泽宣自动化工程技术有限公司 | The kinetic control system of open type flexible digital control system |
| CN104002190B (en) * | 2014-04-28 | 2017-03-22 | 浙江众环机电设备有限公司 | Control system for strong fire furnace end numerical control special drilling machine and method thereof |
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