CN-115145165-B - Scalable motion control simulation system and method

CN115145165BCN 115145165 BCN115145165 BCN 115145165BCN-115145165-B

Abstract

The application discloses an extensible motion control simulation system and method. The simulation system specifically comprises a motion control module, a signal receiving and processing module and a simulation test module, wherein a motion control signal output by the motion control module is processed into a simulation signal which can be called by the simulation test module in the signal receiving and processing module, the motion control signal at least can comprise bus type and pulse type signals, the simulation signal can correspond to position data generated according to the motion control signal of the motion control module, and the simulation signal and simulation control parameters are input into a simulation model of the simulation test module to realize simulation test of the motion control module. The simulation system realizes corresponding expansion and synchronous transmission of various signals according to the signal types, can be compatible with a motion control module comprising pulse signal output and bus output, realizes a real simulation control effect, and further expands the application scene of the simulation system.

Inventors

PAN ZAISHENG
WEI BIN
YU JIAMIN
CHEN LINGFENG
FU ZHENGKE
SUN YAOFENG

Assignees

浙江大学
浙江大学
宁波中控微电子有限公司
宁波中控微电子有限公司

Dates

Publication Date: 20260421
Application Date: 20220525
Priority Date: 20220525

Claims (8)

1. The expandable motion control simulation system is characterized by comprising a motion control module, a signal receiving and processing module and a simulation test module; the motion control module is used for outputting a motion control signal according to the program control parameter, and the motion control signal at least comprises a bus type and a pulse type; The signal receiving and processing module is used for generating corresponding simulation signals from the received motion control signals; the simulation test module is used for performing simulation test on the motion control condition of the motion control module according to simulation control parameters of a simulation model and receiving the simulation signals; Wherein the simulation control parameters of the simulation model are associated with the program control parameters of the motion control module; The signal receiving and processing module comprises: The master station signal receiving and processing unit is used for receiving the motion control signals output by the motion control module and converting the motion control signals into corresponding simulation signals; the secondary station signal receiving and processing units are generated by the primary station signal receiving and processing units through communication line expansion; The slave signal receiving processing unit is provided with an interface for receiving the motion control signal.
2. The scalable motion control simulation system of claim 1, wherein the master station signal receiving processing unit is provided with an interface for receiving the motion control signal and an interface communicatively coupled to the simulation test module.
3. The scalable motion control simulation system of claim 1, wherein the master station signal receiving processing unit is provided with an interface communicatively coupled to an external storage medium for transmitting the simulation signal to enable off-line simulation at the terminal device.
4. The scalable motion control simulation system of claim 1, wherein the master station signal reception processing unit and the slave station signal reception processing unit are disposed between: And the time synchronization device is used for realizing the signal receiving synchronization of the secondary station signal receiving processing unit according to the clock signal sent by the primary station signal receiving processing unit.
5. The scalable motion control simulation system of claim 1, wherein the master station signal reception processing unit and the slave station signal reception processing unit are provided with: And the data transmission channel is used for realizing the transmission of the simulation signal data between the master station signal receiving and processing unit and the slave station signal receiving and processing units and/or among the plurality of slave station signal receiving and processing units.
6. The scalable motion control simulation system of claim 1, wherein the simulation model comprises one or more of a pre-set model, a locally imported model, and a self-built model.
7. The scalable motion control simulation system of claim 1, wherein the simulation test module comprises: And the simulation display sub-module is used for visualizing the simulation test result, the program control parameter and/or the simulation control parameter.
8. A scalable motion control simulation method, the method comprising: outputting a motion control signal according to a program control parameter of the motion control module, wherein the motion control signal at least comprises a bus type and a pulse type; generating a corresponding simulation signal from the motion control signal received by the signal receiving and processing module; According to the simulation control parameters and the simulation signals in the simulation model of the simulation test module, performing simulation test on the motion control condition of the motion control module; Wherein the simulation control parameters of the simulation model are associated with the program control parameters of the motion control module; a master station signal receiving and processing unit in the signal receiving and processing module receives the motion control signal output by the motion control module and converts the motion control signal into a corresponding simulation signal; the master station signal receiving and processing unit generates a plurality of slave station signal receiving and processing units through communication line expansion, and the slave station signal receiving and processing units are provided with interfaces for receiving the motion control signals.

Description

Scalable motion control simulation system and method Technical Field The invention relates to the technical field of industrial control, in particular to an extensible motion control simulation system and method. Background Along with the improvement of the industrial automation level, the number of control shafts corresponding to the motion controllers is increased, the accuracy requirement of the motion controllers on mechanical shaft control is increased, the motion control complexity is increased, further, bus type motion control is accepted by markets, the number of input channels and the number of shafts of a simulation system in the prior art cannot be increased, the current motion control simulation system mainly simulates pulse type control signals, cannot be compatible with bus type signals or other types of signals, the signal types are single, and the simulation test of the current simulation system can only be finished online and does not support offline simulation. For example, currently common motion control simulation systems such as a SCARA mechanical arm, a DELTA mechanical arm and the like have single functions, and the simulation system has limited simulation channels, and generally basically faces to a special control system, and cannot be compatible with multiple types of simulation signals. Disclosure of Invention Aiming at the defects that the simulation channels of a motion control simulation system in the prior art are limited in number and cannot be expanded, the simulation of various types of control signals is not supported, the off-line simulation is not supported by a simulation test, and the like. The application provides an expandable motion control simulation system and method, which concretely comprises the following steps: The first aspect of the application provides an extensible motion control simulation system, which comprises a motion control module, a signal receiving and processing module and a simulation test module; the motion control module is used for outputting a motion control signal according to the program control parameters, and the motion control signal at least comprises a bus type and a pulse type; The signal receiving and processing module is used for generating corresponding simulation signals according to the received motion control signals; The simulation test module is used for performing simulation test on the motion control condition of the motion control module according to the simulation control parameters of the simulation model and the received simulation signals; Wherein, the simulation control parameters of the simulation model are associated with the program control parameters of the corresponding motion control module. Further, the signal receiving and processing module includes: The master station signal receiving and processing unit is used for receiving the motion control signal output by the motion control module and converting the motion control signal into a corresponding simulation signal; Further, the master station signal receiving processing unit is provided with an interface for receiving the motion control signal and an interface in communication connection with the simulation test module. Further, the master station signal receiving and processing unit is provided with an interface in communication connection with an external storage medium, and is used for transmitting simulation signals to realize off-line simulation at the terminal equipment. Preferably, the signal receiving and processing module further includes: The slave station signal receiving and processing units are generated by the master station signal receiving and processing unit through communication line expansion; the slave signal reception processing unit is provided with an interface for receiving the motion control signal. Preferably, a master station signal receiving processing unit and a slave station signal receiving processing unit are provided with: And the time synchronization device is used for realizing the signal receiving synchronization of the secondary station signal receiving processing unit according to the clock signal sent by the primary station signal receiving processing unit. Preferably, a master station signal receiving processing unit and a slave station signal receiving processing unit are provided with: And the data transmission channel is used for realizing the transmission of simulation signals between the master station signal receiving and processing unit and the slave station signal receiving and processing units and/or between the data transmission channel and a plurality of slave station signal receiving and processing units. Preferably, the simulation model comprises one or more of a pre-set model, a locally imported model and a self-built model. Preferably, the simulation test module comprises a simulation display sub-module for visualizing simulation test results, program control parameters and simulation control parameters.