Research On Key Technologies Of Open Motion Controller Based On RTX64

The requirements of networking,digitalization and intellectualization was put forward for advanced equipment manufacturing by "Made in China 2025".As the terminal control node of intelligent factory,motion controller is widely used to control intelligent manufacturing equipment.In the open architecture,the software-based motion controller is considered as an ideal solution.According to the requirements of scalability,configurability,flexibility and modularization,an open motion controller was designed based on RTX64.The architecture design,implementation scheme,synchronization strategy,control algorithm and other core modules of the controller were discussed in order to achieve a universal motion control platform with good openness,stability and expansibility.The main work of this paper is as follows:Firstly,the system development platform of “Windows7 + RTX64” was selected through analyzing the function and performance requirements of the controller.Moreover,the EtherCAT bus technology was adopted to realize the communication between controller and slave devices.Then,the hierarchical structure and functional module division of the control system were completed.Secondly,the realization of multi-process and multi-thread in open controller was discussed.The running environment of process and the interactive scheme between processes was mainly studied.The multi-threading design and scheduling scheme were proposed.Furthermore,based on the analysis of task flow and data flow of controller,the process of position information transmission in motion control was designed.Based on the design pattern of template method,the homing function of the controller was realized.Thirdly,the synchronization strategy and communication model of the controller were studied.The abstract synchronization base class was designed to realize the unified management of multiple synchronization mechanisms.In order to reduce the strong coupling between multi-threads,a ring queue based on template class was designed for the difference of data types among threads.Then,the control algorithm of continuous path was designed.After realizing the instruction preprocessing and path preprocessing,the linear transition scheme was selected by analyzing the condition and performance of corner transition.Aiming at failure of the look-forward algorithm,an optimization strategy was proposed.Then the mathematical model of speed planning was established.The optimal planning speed was determined by using bidirectional scanning algorithm,dynamic programming algorithm and dichotomy adjustment algorithm.Finally,in order to verify feasibility of the open motion controller,two experimental platforms were built to test the basic functions and the performance of the controller.The controller studied in this paper was applied to practical engineering such as 3D grinding,desktop visual dispensing.The experimental results and engineering application results verified the stability and openness of the controller.