CN101196738A

Movatterモバイル変換

Info

Publication number: CN101196738A
Application number: CNA2007101449569A
Authority: CN
Inventors: 李凤阁; 佟为明; 李彬; 杨锋; 唐贵杰
Original assignee: Harbin Institute of Technology Shenzhen
Current assignee: Harbin Institute of Technology Shenzhen
Priority date: 2007-12-28
Filing date: 2007-12-28
Publication date: 2008-06-11
Anticipated expiration: 2027-12-28
Also published as: CN100514234C

Abstract

基于PC机的开放式数控系统，它涉及一种基于Windows的数控系统，以解决现有基于Windows的数控系统存在的实时性较差、开发成本较高以及基于WINCE的数控系统存在的软硬件兼容性较差的问题。本发明的实时调度模块用于建立PC机和硬件接口板之间的连接、调度实时任务；CNC模块用于在PC机的内存中建立共享内存区以及与实时调度模块连接，并通过实时调度模块调度实时任务来实现位置控制功能；PLC模块通过实时调度模块调度实时任务来实现逻辑控制功能；人机界面模块将输入的路径程序、设置的运行方式、进行系统的数据配置传送给实时任务并将实时任务的执行结果显示给用户；实时调度模块、CNC模块和PLC模块都嵌入在Windows操作系统中，人机界面模块是一个通用性的Windows程序。

PC-based open numerical control system, which involves a Windows-based numerical control system, to solve the existing Windows-based numerical control system's poor real-time performance, high development costs and software and hardware compatibility of the WINCE-based numerical control system problem of poor sex. The real-time scheduling module of the present invention is used to set up the connection between the PC and the hardware interface board, and schedules real-time tasks; the CNC module is used to set up a shared memory area in the internal memory of the PC and connect with the real-time scheduling module, and through the real-time scheduling module Scheduling real-time tasks to realize the position control function; the PLC module dispatches real-time tasks through the real-time scheduling module to realize the logic control function; the human-machine interface module transmits the input path program, the set operation mode, and the data configuration of the system to the real-time task and The execution result of the real-time task is displayed to the user; the real-time scheduling module, the CNC module and the PLC module are all embedded in the Windows operating system, and the man-machine interface module is a general Windows program.

Description

Translated fromChinese

基于PC机的开放式数控系统PC-based Open Numerical Control System

技术领域technical field

本发明涉及一种基于Windows操作系统的数控系统。The invention relates to a numerical control system based on Windows operating system.

背景技术Background technique

目前，Windows系列操作系统在PC机上占据着统治地位，它标准美观的图形用户接口(GUI)、方便快捷的操作方式，不但已经被普通用户所接受，而且在工业应用领域内的用户也越来越多。At present, Windows series operating systems occupy a dominant position on PCs. Its standard and beautiful graphical user interface (GUI) and convenient and quick operation methods have not only been accepted by ordinary users, but also more and more users in the field of industrial applications. more.

然而Windows是一个多任务的操作系统，PC机软硬件资源被多个程序共享，导致系统的实时性不好，如果系统资源被其它程序占用，CNC程序就无法满足实时性的要求，而CNC程序对实时性和连续性要求非常高，因此Windows操作系统环境下很难保证实时性，难以应用在实时控制系统中。However, Windows is a multi-tasking operating system. The software and hardware resources of the PC are shared by multiple programs, resulting in poor real-time performance of the system. If the system resources are occupied by other programs, the CNC program cannot meet the real-time requirements. The requirements for real-time and continuity are very high, so it is difficult to guarantee real-time performance under the Windows operating system environment, and it is difficult to apply it in real-time control systems.

目前解决Windows实时性问题主要有以下两种方式：At present, there are two main ways to solve the Windows real-time problem:

(1)使用专门的实时内核开发工具，如通用的RTX开发环境就能开发出实时内核，但是这种开发环境往往价格都比较高，而且这种系统的实时性好坏很大程度上取决于开发人员对开发环境的理解和掌握程度，如果用得不好反而会影响系统的实时性；(1) Real-time kernels can be developed using special real-time kernel development tools, such as the general RTX development environment, but this kind of development environment is often relatively expensive, and the real-time performance of this system depends largely on The developer's understanding and mastery of the development environment, if not used properly, will affect the real-time performance of the system;

(2)采用WINCE系统，这种操作系统能够解决实时性的问题，但是它的软、硬件兼容性不好，尤其是系统中不能借用第三方的软、硬件资源，如CAN的通信功能就不能在WINCE系统上实现。(2) Adopt WINCE system, this operating system can solve the real-time problem, but its software and hardware compatibility is not good, especially the software and hardware resources of the third party cannot be borrowed in the system, such as the communication function of CAN cannot Realized on WINCE system.

发明内容Contents of the invention

本发明为解决现有的CNC系统存在的实时性较差、开发成本较高以及基于WINCE的数控系统存在的软硬件兼容性较差的问题，提供一种基于PC机的开放式数控系统。本发明包括以下单元：The invention provides a PC-based open numerical control system to solve the problems of poor real-time performance, high development cost and poor software and hardware compatibility of the WINCE-based numerical control system in the existing CNC system. The present invention comprises the following units:

PC机1，所述PC机1基于Windows操作系统；PCmachine 1, described PCmachine 1 is based on Windows operating system;

数控设备2，用于接收PC机1发出的控制命令并完成数控加工的实时任务的执行；Thenumerical control device 2 is used to receive the control command sent by thePC 1 and complete the execution of the real-time task of the numerical control machining;

硬件接口板3，用于建立PC机1和数控设备2之间的连接并作为中断源产生停止PC机1其它任务、仅执行数控加工的实时任务的中断信号；Thehardware interface board 3 is used to establish the connection between thePC 1 and thenumerical control device 2 and generate an interrupt signal as an interrupt source to stop other tasks of the PC 1 and only perform real-time tasks of numerical control machining;

它还包括以下单元：It also includes the following units:

实时调度模块4，用于建立PC机1和硬件接口板3之间的连接，调度数控加工的实时任务并为实时任务分配优先级；The real-time scheduling module 4 is used to establish the connection between the PC 1 and thehardware interface board 3, schedule real-time tasks of NC machining and assign priorities to the real-time tasks;

CNC模块5，通过实时调度模块4调度实时任务来实现从零件加工程序中产生数控机床刀具的运动路径，管理程序缓冲区中存储的零件加工程序、编译零件加工程序、工具路径插补、轴位置控制、与实时调度模块4通信，并在PC机1的内存中建立共享内存区8以及与实时调度模块4连接；TheCNC module 5 schedules real-time tasks through the real-time scheduling module 4 to realize the movement path of the CNC machine tool from the part processing program, manage the part processing program stored in the program buffer, compile the part processing program, tool path interpolation, and axis position Control and communicate with the real-time scheduling module 4, and set up a sharedmemory area 8 in the internal memory of thePC 1 and connect with the real-time scheduling module 4;

PLC模块6，通过实时调度模块4调度的实时任务来完成开关量的逻辑控制、模拟量控制和过程控制的功能；ThePLC module 6 completes the functions of logic control, analog quantity control and process control of the switching quantity through the real-time task dispatched by the real-time dispatching module 4;

人机界面模块7，通过共享内存区8输入路径程序、设置运行方式、进行系统的数据配置，并通过共享内存区8接收数控加工的实时任务反馈的执行结果，再将执行结果显示给用户；The man-machine interface module 7 inputs the path program through the sharedmemory area 8, sets the operation mode, and performs system data configuration, and receives the execution result of the real-time task feedback of NC machining through the sharedmemory area 8, and then displays the execution result to the user;

实时调度模块4、CNC模块5和PLC模块6都嵌入在Windows操作系统中，人机界面模块7是一个运行在用户态的Windows程序。The real-time scheduling module 4, theCNC module 5 and thePLC module 6 are all embedded in the Windows operating system, and the man-machine interface module 7 is a Windows program running in the user state.

本发明的有益效果是：基于Windows操作系统，不但具有响应较快、兼容性较好、开发成本较低的特点，而且由实时调度模块4为数控程序分配最高的优先级，当硬件接口板3产生中断时，数控程序可以独占CPU的资源，实现较高的实时性和可靠性，能够更好的满足机械加工中对控制精度的较高要求。The beneficial effects of the present invention are: based on the Windows operating system, not only has the characteristics of fast response, good compatibility, and low development cost, but also the highest priority is assigned to the numerical control program by the real-time scheduling module 4, when thehardware interface board 3 When an interruption occurs, the NC program can monopolize the resources of the CPU to achieve high real-time performance and reliability, and can better meet the higher requirements for control precision in machining.

附图说明Description of drawings

图1是本发明的整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of the present invention.

具体实施方式Detailed ways

具体实施方式一：参见图1，本实施方式包括以下单元：Specific embodiment one: referring to Fig. 1, this embodiment includes the following units:

它还包括以下单元：It also includes the following units:

实时调度模块4、CNC模块5和PLC模块6都嵌入在Windows操作系统中，人机界面模块7是一个运行在用户态的Windows程序。The real-time scheduling module 4, theCNC module 5 and thePLC module 6 are all embedded in the Windows operating system, and the man-machine interface module 7 is a Windows program running in the user mode.

所述硬件接口板3可采用公开号为CN1818895的发明专利公开的串并综合型总线数据传输方法传输PC机1与数控设备2之间的数据；所述实时调度模块4是一个嵌入到PC机1中的Windows内核的驱动程序，由一个.EXE文件作为初始进程，此初始进程导入整个的CNC模块5的系统软件，从注册表读取系统配置和.INI文件来创建所有需要的程序，并在启动程序前读取所有的共享文件；所述CNC模块5用于从零件加工程序中产生数控机床刀具的运动路径，并管理程序缓冲区中存储的零件加工程序、编译零件加工程序、工具路径插补、轴位置控制、与PLC模块6以及外部环境通信；所述PLC模块6用于实现逻辑控制功能、通过实时调度模块4创建实时任务来完成所有的PLC程序；所述人机界面模块7是一个通用性的运行在用户态下的Windows程序，可以输入路径程序、设置运行方式、进行系统的数据配置等操作，输入的数据经过处理后送入共享内存区8，实时任务执行时从共享内存区8中读取输入指令，并把相关运行结果送回共享内存区8，人机界面模块7从共享内存区8中读取这些结果并显示在界面上供操作者查询；用户还可以根据具体的要求编写第三方程序模块9，第三方程序模块9也是一个运行在用户态的Windows程序，用于为用户提供其它的数控操作；人机界面模块7和第三方程序模块9都作为Windows程序10运行，实施调度模块4、CNC模块5和PLC模块6都作为实时子系统11运行。Thehardware interface board 3 can transmit the data between thePC 1 and thenumerical control device 2 using the serial-parallel bus data transmission method disclosed in the invention patent of CN1818895; the real-time scheduling module 4 is a 1. The driver program of the Windows kernel consists of an .EXE file as the initial process. This initial process imports the entire system software of theCNC module 5. It reads the system configuration and .INI files from the registry to create all required programs, and Read all shared files before starting the program; theCNC module 5 is used to generate the motion path of the CNC machine tool from the part processing program, and manage the part processing program stored in the program buffer, compile the part processing program, and the tool path Interpolation, shaft position control, communication with thePLC module 6 and the external environment; thePLC module 6 is used to realize logic control functions, and complete all PLC programs by creating real-time tasks through the real-time scheduling module 4; the man-machine interface module 7 It is a general-purpose Windows program running in the user state. You can enter the path program, set the operating mode, and perform operations such as system data configuration. Read the input command in thememory area 8, and send back the relevant operating results to the sharedmemory area 8, and the man-machine interface module 7 reads these results from the sharedmemory area 8 and displays them on the interface for the operator to query; the user can also according to The specific requirement is to write the third-party program module 9, the third-party program module 9 is also a Windows program running in the user mode, and is used to provide other numerical control operations for the user; both the man-machine interface module 7 and the third-party program module 9 are used as Windowsprograms 10 is running, and thescheduling module 4, theCNC module 5 and thePLC module 6 are all operated as the real-time subsystem 11.

CNC模块5和PLC模块6都以计算机程序的形式存储在PC机1中，并采用共享映射存储器的技术与人机界面模块7之间进行通信，通过共享PC机1的同一段内存区来实现数据的交换，通信区域包括以下几个部分：从人机界面模块7传递到CNC模块5和PLC模块6的数据和命令；从CNC模块5和PLC模块6传递到人机界面模块7的数据和命令；从CNC模块5和PLC模块6传递到人机界面模块7的用于显示的轴位置、命令位置和实际位置的偏差、路径速度等；CNC模块5和PLC模块6之间的通信包括以下内容：来自PLC模块6的二进制信号、发送到PLC模块6的二进制信号、NC参数、NC修正、轴位置、命令等。Both theCNC module 5 and thePLC module 6 are stored in the PC 1 in the form of computer programs, and communicate with the man-machine interface module 7 by using the technology of shared mapped memory, and realize by sharing the same memory area of thePC 1 Data exchange, the communication area includes the following parts: the data and commands transmitted from the human-machine interface module 7 to theCNC module 5 and thePLC module 6; the data and commands transmitted from theCNC module 5 and thePLC module 6 to the human-machine interface module 7 Command; from theCNC module 5 and thePLC module 6 to the human-machine interface module 7 for display axis position, the deviation of the command position and the actual position, the path speed, etc.; the communication between theCNC module 5 and thePLC module 6 includes the following Contents: binary signals fromPLC module 6, binary signals sent toPLC module 6, NC parameters, NC corrections, axis positions, commands, etc.

CNC模块5由编译进程和插补进程组成。编译进程由运行在核心态的编译任务和运行在用户态的数据服务器线程组成；编译任务的主要职责是编译NC程序并把信息转化成插补器能够理解的方式，编译任务还完成偏移量和工具长度修正，诊断，传送插补进程的输入输出信息等功能；数据服务器线程为所有的CNC程序的文件IO服务，数据服务器线程不是PA实时子系统的一部分，当它进行文件操作的时候需要Windows API，因此它是作为标准Windows 32用户态线程来实现的；插补进程由插补任务和位置任务组成，插补任务是由插补进程创建的，插补任务以固定周期工作，插补任务是CNC模块5的执行单元。位置任务和插补任务一样，都是由硬件定时器产生的中断来启动的。编译进程首先启动，它初始化所有的数据、建立与人机界面模块7之间的通信并建立编译进程和插补进程之间通信所需要的共享内存区域、它连接到实时调度模块4并创建一个实时任务一编译任务、还建立数据服务器来处理所有的CNC模块5的文件输入输出；插补进程是在编译器初始化后启动的，它初始化插补进程专用的数据和内存、连接到实时调度模块4并建立两个实时任务：插补任务和位置任务。TheCNC module 5 consists of a compilation process and an interpolation process. The compilation process consists of a compilation task running in the core state and a data server thread running in the user state; the main responsibility of the compilation task is to compile the NC program and convert the information into a way that the interpolator can understand, and the compilation task also completes the offset and tool length correction, diagnosis, transmission of input and output information of the interpolation process, etc.; the data server thread serves the file IO of all CNC programs. The data server thread is not a part of the PA real-time subsystem, and it needs to be used when it performs file operations. Windows API, so it is implemented as a standard Windows 32 user mode thread; the interpolation process is composed of an interpolation task and a position task, the interpolation task is created by the interpolation process, the interpolation task works in a fixed period, and the interpolation A task is the execution unit of theCNC module 5. Like the interpolation task, the position task is started by the interrupt generated by the hardware timer. The compilation process starts first, it initializes all data, establishes communication with the man-machine interface module 7 and establishes the shared memory area required for communication between the compilation process and the interpolation process, it connects to the real-time scheduling module 4 and creates a Real-time task-compilation task, data server is also set up to process the file input and output of allCNC modules 5; the interpolation process is started after the compiler is initialized, it initializes the data and memory dedicated to the interpolation process, and connects to the real-time scheduling module 4 and establish two real-time tasks: interpolation task and position task.

工作原理：PC机1启动并完成自检和通过硬件接口板3对数控设备2进行检测，实时调度模块4启动并分配给实时任务最高的优先级，CNC模块5启动并初始化位置控制程序的数据，建立共享内存区8并连接到实时调度模块4，PLC模块6启动并初始化逻辑控制程序的数据，人机界面模块7启动，用户通过人机界面模块7把数控参数等数据输入到共享内存区8中，PC机1将位置控制程序和逻辑控制程序所需要的数据通过硬件接口板3读入到共享内存区8，由硬件接口板3产生中断，PC机1暂停所有正在执行的程序，实时调度模块4调度位置控制程序和逻辑控制程序的运行，进行插补、位置控制的运算，通过硬件接口板3发送到数控设备2，实时调度模块4通过硬件接口板3接收到数控设备2的反馈信息并将反馈信息显示到人机界面模块7上，当位置控制程序和逻辑控制程序都执行完毕后，中断返回，数控过程结束。Working principle: PC 1 starts and completes self-inspection and detectsCNC equipment 2 throughhardware interface board 3, real-time scheduling module 4 starts and assigns the highest priority to real-time tasks, andCNC module 5 starts and initializes the data of the position control program , establish the sharedmemory area 8 and connect to the real-time scheduling module 4, thePLC module 6 starts and initializes the data of the logic control program, the man-machine interface module 7 starts, and the user inputs data such as numerical control parameters into the shared memory area through the man-machine interface module 7 8, the PC 1 reads the data required by the position control program and the logic control program into the sharedmemory area 8 through thehardware interface board 3, and thehardware interface board 3 generates an interrupt, and thePC 1 suspends all the programs being executed, and the real-time Thescheduling module 4 schedules the operation of the position control program and logic control program, performs interpolation and position control operations, and sends them to thenumerical control device 2 through thehardware interface board 3, and the real-time scheduling module 4 receives feedback from thenumerical control device 2 through thehardware interface board 3 information and display the feedback information on the man-machine interface module 7, when the position control program and the logic control program are all executed, the interrupt returns, and the numerical control process ends.

Claims

Translated fromChinese

1.基于PC机的开放式数控系统，它包括以下单元：1. PC-based open CNC system, which includes the following units:

PC机(1)，所述PC机(1)基于Windows操作系统；PC machine (1), described PC machine (1) is based on Windows operating system;

数控设备(2)，用于接收PC机(1)发出的控制命令并完成数控加工的实时任务的执行；The numerical control device (2) is used to receive the control command sent by the PC (1) and complete the execution of the real-time task of numerical control machining;

硬件接口板(3)，用于建立PC机(1)和数控设备(2)之间的连接并作为中断源产生停止PC机(1)其它任务、仅执行数控加工的实时任务的中断信号；The hardware interface board (3) is used to establish the connection between the PC (1) and the numerical control device (2) and generate an interrupt signal as an interrupt source to stop other tasks of the PC (1) and only perform real-time tasks of numerical control machining;

其特征在于它还包括以下单元：It is characterized in that it also includes the following units:

CNC模块(5)，通过实时调度模块(4)调度实时任务来实现从零件加工程序中产生数控机床刀具的运动路径，管理程序缓冲区中存储的零件加工程序、编译零件加工程序、工具路径插补、轴位置控制、与实时调度模块(4)通信，并在PC机(1)的内存中建立共享内存区(8)以及与实时调度模块(4)连接；PLC模块(6)，通过实时调度模块(4)调度的实时任务来完成开关量的逻辑控制、模拟量控制和过程控制的功能；The CNC module (5) schedules real-time tasks through the real-time scheduling module (4) to realize the movement path of the CNC machine tool from the part processing program, manage the part processing program stored in the program buffer, compile the part processing program, and insert the tool path. Compensation, axis position control, communicate with real-time scheduling module (4), and establish shared memory area (8) in the memory of PC (1) and connect with real-time scheduling module (4); PLC module (6), through real-time The real-time task dispatched by the dispatching module (4) completes the functions of logic control, analog quantity control and process control of switch quantity;

人机界面模块(7)，通过共享内存区(8)输入路径程序、设置运行方式、进行系统的数据配置，并通过共享内存区(8)接收数控加工的实时任务反馈的执行结果，再将执行结果显示给用户；The human-machine interface module (7) inputs the path program through the shared memory area (8), sets the operating mode, and performs system data configuration, and receives the execution result of the real-time task feedback of NC machining through the shared memory area (8), and then The execution result is displayed to the user;

实时调度模块(4)、CNC模块(5)和PLC模块(6)都嵌入在Windows操作系统中，人机界面模块(7)是一个运行在用户态的Windows程序。The real-time scheduling module (4), the CNC module (5) and the PLC module (6) are all embedded in the Windows operating system, and the man-machine interface module (7) is a Windows program running in the user state.