RTX-based PC Motion Control System And Forward-Looking Processing Acceleration And Deceleration Algorithm

The software-based motion system has the advantages of high openness the software-based motion system has the advantages of high openness low price compared with the traditional PC+CNC motion system.This paper embeds the RTX real-time operating system under the traditional PC Windows operating system to complete the motion system architecture design,security management,Research on migration development of trajectory algorithms.The main research contents are as follows:(1)Design a set of versatile practical engineering motion systematic architecture for the motion systematic platform embedded in RTX real-time operating system under PC Windows system,to ensure the system is safe managed as the main line,layer module turn into the architectural idea,the state parameters can be observed controlled,the systematic parameters can be queried traceable to the design requirements,the data parameters of each module are not directly coupled the way of pointer value,the function flow module can be defined to realize the flexible function module.Add combine to enhance system scalability.Design the system main frame layer,task coordination management framework layer,sub-function module layer three-tier system architecture,the functional modules under the architecture include version matching management scheme,input output validity check scheme between functional modules.Describe in detail the function implementation principle of each function module under each framework layer.According to the implementation of each module function,the module priority is set under the RTX system each function module is managed according to the priority level according to the preemptive thread scheduling logic.A motion system framework design scheme based on PC+RTX multi-thread parallel processing motion function module is proposed.(2)From the perspective of the safety design of motion system,a safety risk factor analysis method is proposed for the field of motion system.The possibility of discussing the hardware board level,software program level external equipment part of the system is discussed.A safety risk that introduces operator injury or loss of controlled system hardware,proposes a corresponding risk rating criteria.According to the emergency stop measures adopted the motion system under different risk levels,the distributed emergency stop scheme of hardware system emergency stop software detection planning stop is used,the axis group status based on multi-axis motion process are discussed in detail.The transition condition logic judges are design a security risk management strategy suitable for the motion system.Aiming at the system’s security risk information state parameters data interaction with human-computer interaction system,a set of extensible binary command format is designed to facilitate users to use this binary command to query and system status.(3)The interpolation algorithm of straight line circular arc is the most important trajectory algorithm of numerical system.For the PC+RTX platform of software motion,the interpolation algorithm of straight line circular arc is transplanted,the joint angle of continuous trajectory is discussed.The forward-looking processing algorithm of the improves the flexibility of the system based on the maximum angular that the system module can achieve based on the convergence angle obtained the forward-looking process.Aiming at the impact oscillating problem caused the discontinuity of the jerk curve of the traditional algorithm,the new algorithm model of the positive versine curve volatility derivative is used to improve the flexibility of the system.The obtained system is accelerated to the maximum value,the forward-looking adaptive real-time maximum jerk variable positive versine curve algorithm model is completed.