CN107942981A - The cooperative control method of stage multiple spot servo-drive - Google Patents
The cooperative control method of stage multiple spot servo-drive Download PDFInfo
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- CN107942981A CN107942981A CN201711249782.2A CN201711249782A CN107942981A CN 107942981 A CN107942981 A CN 107942981A CN 201711249782 A CN201711249782 A CN 201711249782A CN 107942981 A CN107942981 A CN 107942981A
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- 230000002596 correlated effect Effects 0.000 claims abstract description 26
- 230000001276 controlling effect Effects 0.000 claims abstract description 5
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 5
- 238000011022 operating instruction Methods 0.000 claims description 43
- 230000000875 corresponding effect Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 7
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2664—Audio light, animation, stage, theatre light
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Abstract
A kind of cooperative control method the invention discloses stage with multiple spot servo-drive, the Collaborative Control to each equipment moving on stage is realized based on Stage Equipment Control system；Specially, after monitoring and scheduling PC drives search by the periodicity time and the correlated condition judgement of present node is concentrated to node instruction, issuing the present node to PLC controller by Ethernet instructs the multiple servo motions included to instruct, for PLC controller by controlling network and servo motion to instruct relevant independent servo-driver to carry out real-time communication in the form of point-to-point, packet or broadcast, independent servo-driver drives mechanical transmission structure further to control each equipment collaboration on stage to move by servomotor.The present invention can be under preheating setting time, position and input condition, ensure that the systems such as stage, heavy curtain, lighting can show specific shape or display effect, in-situ FTIR spectroelectrochemitry function is realized can power off suddenly at the scene again in the case of, greatly improves the stability of stage equipment operation.
Description
Technical field
It is particularly a kind of to be applied in stage, curtain, lighting lamp system the present invention relates to Collaborative Control technical field
Cooperative control method.
Background technology
Modern stage integrates sound, light, electricity, LED and shows and complete the functions such as various mechanical movements, therefore modern dance
Platform control technology contains many control such as hydraulic pressure, machine driving, electric, automation, traditional stage machinery
Equipment system and its control system have been unable to meet people and society to its demand.
Higher and higher with the complexity of Stage System, the mechanical structure of Stage System and electrical control tend to be complicated
Change, to realize the perfect presentation of stage effect, it is preferred that emphasis is the Control for Dependability of each executing agency, real-time are controlled, can managed
Property control and fault-tolerance control.But at the scene in traditional stage actual motion, stage equipment high-speed cruising and each executing agency
Between it is apart from each other when, each executing agency will produce different degrees of offset deviation；On the other hand, traditional stage cannot meet
Changeable control mode is combined, when user's operation mistake, the interface connection failure of various connections or unexpected power down, tradition
Control method cannot recover target location automatically and cannot carry out error monitoring with remove, and when communicate break down when, pass
The control system of system cannot interrupt the instruction that the driver that goes offline is carrying out, so as to cause security risk；In addition, stage pair now
In real-time, stability, accuracy rigors, traditional control method can only complete control to a small number of equipment and require,
The demand of society is not reached much.It is traditional due to timesharing of the live stage for different zones or the requirement controlled at the same time
Control system can not achieve under same control system while different stage regions controlled in real time.
The content of the invention
The technical problem to be solved in the invention is to provide a kind of perfect in shape and function, stable stage Collaborative Control side
Method, to improve stage equipment operation stability.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
The cooperative control method of stage multiple spot servo-drive, the cooperative control method are based on the realization pair of Stage Equipment Control system
The Collaborative Control of each equipment moving on stage；
The Stage Equipment Control system include it is multiple by the servomotor of independent servo driver drives and PLC controller and
One monitoring and scheduling PC, is controlled between the monitoring and scheduling PC and PLC controller by Ethernet into row data communication, the PLC
It is in communication with each other respectively by cable network between device processed and independent servo-driver and between adjacent independent servo-driver
Form control network；
The cooperative control method is that monitoring and scheduling PC drives search by the periodicity time and node instruction concentrated current
After the correlated condition of node judges, multiple watched to what PLC controller issued that the present node instruction included by Ethernet
Movement instruction is taken, PLC controller is in the form of point-to-point, packet or broadcast by controlling network and servo motion instruction relevant
Independent servo-driver carries out real-time communication, and independent servo-driver drives mechanical transmission structure further to control by servomotor
Each equipment collaboration movement on stage processed.
The cooperative control method of above-mentioned stage multiple spot servo-drive, the node instruction collection are a tree storages
, the set being made of multiple nodes and included node instruction and correlated judgment condition, each node is identified with this
Node type of attachment of the node in tree, the node node instruction and perform what the node instruction must was fulfilled for
Correlated judgment condition.
The cooperative control method of above-mentioned stage multiple spot servo-drive, the node instruction contains one or more can
Change the servo motion instruction of the independent servo-driver motion state；The correlated judgment condition is based on time, circulation
Number, displacement motor, external switch amount state and the mutual syntagmatic of above-mentioned condition.
The cooperative control method of above-mentioned stage multiple spot servo-drive, the periodicity time driving of the monitoring and scheduling PC are
Driven by programming and the periodical timer set；It is timed to every time after reaching, one is concentrated according to the node instruction preserved
Or whether some present nodes meet correlated judgment condition, and then to decide whether to perform the node instruction in present node, if
Meet the correlated judgment condition of corresponding node, then promote present node to next level of child nodes；If it is unsatisfactory for corresponding node
Correlated judgment condition, then continue waiting for next timing cycle and reach.
The cooperative control method of above-mentioned stage multiple spot servo-drive, the monitoring and scheduling PC include at least network communication work(
Energy module, movement setting and monitoring module, control algolithm module；The network communication function module is used for and the independence
Servo-driver and PLC controller form control network to realize real-time Communication for Power；The movement setting is used with monitoring module
In realizing systematic parameter, each independent servo-driver parameter, the setting of node instruction collection and condition monitoring；The control algolithm
Module is used under periodicity timedrive, according to the present node correlated judgment condition of node instruction collection set into
Row judges and downward recursive search.
The cooperative control method of above-mentioned stage multiple spot servo-drive, the control network settings have heartbeat monitoring mechanism,
Abandon and stop immediately for the servo-drive instruction for going offline mistake even and being currently running.
The cooperative control method of above-mentioned stage multiple spot servo-drive, the cooperative control method specifically include following step
Suddenly：
1）Established according to the operating status of each equipment in stage structure by each servomotor, servo-driver and PLC controller
The control network of composition is in communication with each other, and establishes linking for PLC controller and monitoring and scheduling PC in control network；
2）Monitoring and scheduling PC creates instruction buffer and order caching, established respectively again in instruction buffer " operating instruction caching " and
" wait instruction buffer "；
3）Start detection timer, " operating instruction caching " queue under traversal root instruction；
4）Judge whether the operating instruction in " operating instruction caching " under root instruction runs completion, if operating instruction is completed,
The dwell time of instruction adds 1, if the operating instruction in " the operating instruction caching " under root instruction is not completed, the operation instructed
Time adds 1, continues to travel through " operating instruction caching " queue under root instruction；
5）After the operating instruction in root instruction lower " operating instruction caching " is fully completed, judge root instruct under " operation refers to
Whether there is child node in order caching " queue, continue operation child node downwards if any child node, run and complete until each child node；
Instruction is deleted if no child node in itself；
6）The motor movement record respectively instructed in " operating instruction caching " under root is instructed is put into order caching；
7）Judged according to trigger condition and trigger the instruction in " wait instruction buffer "；
8）After the completion of meeting the instruction operation of trigger condition in " wait instruction buffer " queue, lookup refers in order caching
Order, and " operating instruction caching " and " wait instruction buffer " are put into according to sub-instructions trigger condition respectively；
9）Judge whether " operating instruction caching " queue and " wait instruction buffer " queue are empty, if being not sky, are then waited next
Repeat step 3 after secondary timers trigger）To step 8）；It is such as sky, then stops timer, prompts all instructions operation to finish.
The cooperative control method of above-mentioned stage multiple spot servo-drive, the operation method instructed in the queue are：
S1）Monitoring and scheduling PC sends control data packet to PLC controller；The data packet includes triggering equipment axis servomotor
Enable signal, the speed of service of node instruction collection and running position；
S2）PLC controller writes internal storage location after receiving data packet, and whether just to judge the servomotor axis number in data packet
Really, as correctly, by enabled write signal, and fed back to monitoring and scheduling PC, monitoring and scheduling PC sends synchronous enabled signal, and carries out
Step S3；As wrong, progress step S5；
S3）After PLC controller receives synchronous enabled signal, corresponding motor servo driver driving servomotor is controlled to perform
Corresponding instruction；Meanwhile the implementation status information of servomotor is fed back to monitoring through PLC controller and adjusted by motor servo driver
Spend PC；
S4）Monitoring and scheduling PC judges whether the information of return is wrong, such as errorless, sends next instruction set, such as wrong operation step
Rapid S5；
S5）After monitoring and scheduling PC receives the error message of feedback, send and terminate order, PLC controller is connected to the enabled letter of stopping
Number, triggering immediately is ceased and desisted order, and servomotor shuts down.
It is as follows as a result of above technical scheme, the invention technological progress.
The present invention combines the technologies such as database, computer control and SERVO CONTROL, devises good monitoring software interface
With driving control system, it can ensure the systems such as stage, heavy curtain, lighting under preheating setting time, position and input condition
Specific shape or display effect can be showed, and in-situ FTIR spectroelectrochemitry function is realized in the case of powering off suddenly at the scene, and
And each executing agency is monitored in real time in program operation, if mistake occur can feed back and handle in time, greatly improve
The stability of stage equipment operation.In addition, the application of the present invention, also achieves the timing to more servomotors, positioning and determines
Speed Collaborative Control, not only combining form is versatile and flexible so that function obtained it is very big perfect, and run more stablize.
Brief description of the drawings
Fig. 1 is the schematic diagram of cooperative control method of the present invention；
Fig. 2 is driver closed loop control module schematic diagram in the present invention；
Fig. 3 is the structure diagram that stage communicates in the present invention；
Fig. 4 is the structure diagram of interior joint instruction set of the present invention；
Fig. 5 is the flow chart of operating instruction and logical program in the present invention；
Fig. 6 is movement setting and the flow chart of condition monitoring in the present invention；
Fig. 7 is the flow chart of operating instruction control algolithm in the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be described in further detail.
A kind of cooperative control method of stage multiple spot servo-drive, the cooperative control method be based on Stage Equipment Control system,
Control network and a kind of tree, the node instruction collection that meets condition and just perform, are realized to each equipment moving on stage
Collaborative Control.
Stage Equipment Control system includes multiple servomotors driven by independent servo-driver 10 and a PLC controller
A 20 and monitoring and scheduling PC30；By Ethernet into row data communication, the PLC between monitoring and scheduling PC and PLC controller
Pass through cable network phase intercommunication between controller and independent servo-driver and between adjacent independent servo-driver respectively
Letter forms control network, as shown in Figure 3.
Each independent servo-driver is respectively provided with independent position, speed, torque closed loop control function, as shown in Figure 2.Solely
Vertical servo-driver is provided with network interface, can set communication station number, to distinguish the different node numbers under identical network, may be used also
To set transmission communication transmission rate, to support the requirement of live stage difference communication speed, miscommunication agreement can also be set.
Independent servo-driver is additionally provided with USB communication interfaces, and receiving corresponding servo by network interface or USB communication interfaces transports
Dynamic instruction, can set different communication speeds according to the communication distance at scene, and can call network by monitoring and scheduling PC30
Communication transmission servo motion instruction so that complete the position location of single servo-driver, movement velocity, rotating torque it is accurate
Closed-loop control, and the monitoring to single motor servo driver.
Above-mentioned independent servo-driver drives each equipment on stage to run by mechanical structures such as shaft coupling, retarders,
So as to fulfill corresponding control operation.
Control network can be connected indirectly to the network interface of monitoring and scheduling PC30 directly or by Ethernet, in of the invention
Control network internal use CANopen wired datas；PLC controller is saved to different under the network in real time by the network
The servo-driver of point is monitored, and passes through the network real-time tranception different servo driving instruction information.It is in addition, of the invention
Control network be also provided with heartbeat monitor mechanism, for go offline lose even and be currently running servo-drive instruction abandons immediately simultaneously
Stop.
Main website can be also set in control network, a main website each forms the sub-network of most 127 nodes, and more
A main website is mounted to same PLC controller in the following, so as to form a fairly large control network；Will be only under the network
Vertical servo-driver is mounted to different nodes in the following, being realized so as to realize to the independent servo-driver below the network
Point-to-point, packet or the form transceiving data of broadcast.That is, monitoring and scheduling PC can be directly or indirectly by gateway and company
Enter and control network, and real-time communication can be carried out with multiple independent servo-drivers with point-to-point, packet or the forms of broadcasting.It is such a
Under state, monitoring and scheduling PC receives and dispatches servo to main website by PLC controller in the form of node instruction collection by software programming and drives
Dynamic instruction, by controlling network that servo-drive instruction is handed down to each independent servo-driver, independent servo-driver connects for main website
Corresponding order-driven servomotor operating is received, servomotor is driven by mechanical transmission structures such as shaft coupling, retarders and waved
Each equipment operation on platform, so as to fulfill motion control commands；Meanwhile servomotor by real-time current location, present speed, when
The information such as preceding moment of torsion, current state, abnormality pass to corresponding independent servo-driver, and independent servo-driver passes through control
Network processed transfers the information to main website, and main website passes to monitoring PC by PLC controller again, so as to fulfill monitoring function.
Monitoring and scheduling PC of the present invention includes at least network communication function module, movement setting and condition monitoring mould
Block, control algolithm module.
Network communication function module is used to form control network with the independent servo-driver and PLC controller to realize
Real-time Communication for Power；Comprising customized Modbus agreements and CANopen agreements, monitoring and scheduling PC sends number to lower floor's PLC controller
According to PLC controller receives data packet, and data are handled, and response data after processing then is fed back to monitoring and scheduling
PC, monitoring and scheduling PC judge whether echo message is correct, realize and lead to the real-time of each independent servo-driver in control network
News.
Movement setting is used for realization systematic parameter, each independent servo-driver parameter, node with monitoring module and refers to
Make setting and the condition monitoring of collection.
Control algolithm module is used under periodicity timedrive, works as prosthomere according to the node instruction collection set
Point correlated judgment condition is judged and downward recursive search.
Further preferably include enabling on the software interface of monitoring and scheduling PC and connect, disconnect, origin is set, separate unit point is set
The control terminals such as dynamic or more crawls, clearing, alarm removing, power down protection, logical order triggering, setting limit point, so as to independent
The driving of independent servomotor is debugged, resetted, reset, removings of alarm, power down protection, setting are soft spacing etc. operates.More into
One step, the position that real-time display servomotor node instruction is run on the software interface of monitoring and scheduling PC, whole servomotors
Position, speed, run time, torque, acceleration, deceleration, warning message, it is real-time to be carried out to whole servomotors
Monitoring.It can display real-time when occurring abnormal, if software anomaly, miscommunication can be clear by the alarm on monitoring and scheduling PC
Except function is handled, if hardware anomalies are, it is necessary to artificial treatment.
The principle of cooperative control method of the present invention as shown in Figure 1, its flow as shown in figure 5, monitoring and scheduling PC passes through
The driving search of periodicity time and node instruction is concentrated present node correlated condition judge after, by Ethernet to PLC
Controller issues multiple servo motions instruction that the present node instruction is included, and PLC controller is with point-to-point, packet or wide
The form broadcast is by controlling network and servo motion to instruct relevant independent servo-driver 10 to carry out real-time communication, independent servo
Driver 10 drives mechanical transmission structure further to control each equipment collaboration on stage to move by servomotor.
The periodicity time driving of monitoring and scheduling PC30 is to be driven by programming and the periodical timer set；It is fixed every time
When reach after, concentrate whether one or several present nodes meet correlated judgment condition 203 according to the node instruction that is preserved, into
And to decide whether to perform the node instruction 202 in present node, will be current if meeting the correlated judgment condition of corresponding node
Node is promoted to next level of child nodes；If being unsatisfactory for the correlated judgment condition of corresponding node, next timing cycle is continued waiting for
Reach.
Above-mentioned node instruction collection is as shown in figure 4, be that a tree is stored, by multiple nodes 201 and included
The set of node instruction 202 and correlated judgment condition 203 and composition, each node 201 are identified with the node in tree
In node type of attachment, the node node instruction and perform the correlated judgment condition that the node instruction must is fulfilled for.
The node instruction, which contains one or more, can change watching for 10 motion state of independent servo-driver
Take movement instruction；The position of servo-driver, speed, torque, acceleration, deceleration, fortune are contained in servo motion instruction
The information such as row state.Node of the present invention is not only a kind of storage of tree, further comprises between each father and son's node
Mutually nested connection relation.The correlated judgment condition 203 is based on time, cycle-index, displacement motor, external switch amount
State and the mutual syntagmatic of above-mentioned condition.Perform the correlated judgment condition that node instruction must is fulfilled for, Ke Yishi
Driven based on certain servo in upper one instruction time started, upper instruction end time, the cycle-index of the node, the node
The real-time displacement of motor movement, the instant control instruction and above-mentioned condition of the input of external switch amount are mutual in dynamic instruction
Syntagmatic etc..
Increase can be concentrated on the monitoring and scheduling PC of the present invention in the node instruction of the tree, deleted, duplication one
A node or its whole node.When concentrating increase node in node instruction, the connection side of selection increase node be free to
Formula, can freely add the position of servo-driver, speed, torque, acceleration, deceleration in the range of soft spacing permission
Etc. information.When node instruction concentrates deletion of node, single child node can be deleted, root instruction node i.e. root section can also be deleted
Point is all deleted together with following child node.Node instruction concentrate replica node when, can replicate individual node or
It is multiple nodes, wherein individual node contains the various information of servo-driver operation, and multiple nodes both contain servo
The various information of motor operation, also contains the triggering between each node.In addition, monitoring and scheduling PC can also pass through difference
Shortcut set separately or concurrently be consecutively carried out multiple and different tree node instruction collection.
Cooperative control method of the present invention is described in detail with reference to Fig. 7, which specifically wraps
Include following steps：
1）Established according to the operating status of each equipment in stage structure by each servomotor, servo-driver and PLC controller
The control network of composition is in communication with each other, and establishes linking for PLC controller and monitoring and scheduling PC in control network.
2）Monitoring and scheduling PC creates instruction buffer and order caching, and " operating instruction caching " is established respectively again in instruction buffer
" wait instruction buffer "；Order caching is used for the motion recording for storing root instruction servomotor, after root instruction operation, looks into
Root is looked for instruct the sub-instructions of following carry, the condition triggered according to sub-instructions is stored in operating instruction caching or waits and instructs respectively
In caching.
3）Start detection timer, " operating instruction caching " queue under traversal root instruction.
4）Judge whether the operating instruction in " operating instruction caching " under root instruction runs completion, if operating instruction is complete
Into the dwell time then instructed adds 1, if the operating instruction in " the operating instruction caching " under root instruction is not completed, instructs
Run time add 1, continue travel through root instruction under " operating instruction caching " queue.
5）After the operating instruction in " the operating instruction caching " under root instruction is fully completed, " the fortune under root instruction is judged
Whether there is child node in row instruction buffer " queue, continue operation child node downwards if any child node, until each child node has been run
Into；Instruction is deleted if no child node in itself.
6）The motor movement record respectively instructed in " operating instruction caching " under root is instructed is put into order caching.
7）Judged according to trigger condition and trigger the instruction in " wait instruction buffer ".
8）After the completion of meeting the instruction operation of trigger condition in " wait instruction buffer " queue, son is searched in order caching
Instruction, and " operating instruction caching " and " wait instruction buffer " are put into according to sub-instructions trigger condition respectively.
9）Judge whether " operating instruction caching " queue and " wait instruction buffer " queue are empty, if being not sky, are then waited
Repeat step 3 after timers trigger next time）To step 8）；It is such as sky, then stops timer, prompts all instructions to run
Finish.
The flow of the operation method instructed in above-mentioned queue is as shown in fig. 6, specific as follows.
S1）Monitoring and scheduling PC sends control data packet to PLC controller；The data packet includes triggering equipment axis servo
The enable signal of motor, the speed of service of node instruction collection and running position；
S2）PLC controller writes internal storage location after receiving data packet, and whether just to judge the servomotor axis number in data packet
Really, as correctly, by enabled write signal, and fed back to monitoring and scheduling PC, monitoring and scheduling PC sends synchronous enabled signal, and carries out
Step S3；As wrong, progress step S5；
S3）After PLC controller receives synchronous enabled signal, corresponding motor servo driver driving servomotor is controlled to perform
Corresponding instruction；Meanwhile the implementation status information of servomotor is fed back to monitoring through PLC controller and adjusted by motor servo driver
Spend PC；
S4）Monitoring and scheduling PC judges whether the information of return is wrong, such as errorless, sends next instruction set, such as wrong operation step
Rapid S5；
S5）After monitoring and scheduling PC receives the error message of feedback, send and terminate order, PLC controller is connected to the enabled letter of stopping
Number, triggering immediately is ceased and desisted order, and servomotor shuts down.
Certainly in execution of instructions, can also be controlled by setting the shortcut on monitoring and scheduling PC software interfaces
The stopping or recovery of timer, so as to fulfill system overall coordination movement pause or continue to run with；It is also possible to by monitoring
Scheduling PC by control network with point-to-point, packet or the forms of broadcasting it is corresponding send some, a certain group or whole servo drive
The servo motion instruction of dynamic device, so as to fulfill some, the crawl operation and positioning of a certain group or whole servo-drivers.
Multiple equipment on stage is controlled using cooperative control method of the present invention, it is possible to achieve following work(
Energy.
1）Network multinode synchronization control function：Require multiple servomotor collaborations to complete one in Stage Equipment Control system to move
Make, controller receives all control commands in synchronization, realizes that the synchronous of multiple servomotors is transported finally by synchronizing signal
Turn, so as to fulfill the control function of network multinode.
2）Powered-off fault defencive function：Stage Equipment Control system is independently watched after the power is turned on again when there is powered-off fault situation
Take driver and come back to zero point, choose the servomotor for needing to recover origin, start automatic Aligning control instruction, by special
Node instruction collection, allows selected servomotor to return to the origin position of record before power-off.
（3）System configuration features：According to the actual conditions of equipment in field, relevant ginseng is directly changed by monitoring and scheduling PC
Number configuration, including motor ID, motor title, spacing, stage acceleration and deceleration bound above and below spacing, stage speed above and below stage position
Position, pulses switch coefficient, default speed, acceleration, deceleration etc., all parameters are only unified when system starts to be configured once.
（4）Display and monitoring alarm function：Can be provided in the monitoring interface of monitoring and scheduling PC for operating personnel in real time and
Clear equipment running status information, and the false alarm information in each servo-driver is shown, additionally it is possible to it is right
False alarm carries out automatic or manual processing.The content that monitoring interface is shown include present node instruction need all parameters with
And the ginseng such as operation initial time, the speed of service, target location, dwell time and operating status of current point in time all devices
Number.At the same time in node instruction collection actual motion, real-time tracking mark can be also set to be used to refer to which section is program run to
Point instruction.
（5）The real time monitoring and broken string of network node lose the stopping function immediately under even state：Controller PLC is to different nets
Node under network carries out real time monitoring connection status, if there is communication failure, monitoring and scheduling PC sends out the serving Node under the group
Cease and desist order, losing the serving Node connected for broken string enables Node Protection function, and lose the motor connected for broken string stops just at once
In the servo instruction of execution, so as to solve under the company's of mistake state from safety issue caused by monitoring and scheduling PC controls.
（6）Flexible layout song function：There is provided in monitoring and scheduling PC based on time, position, circulation or three kinds any group
The triggering mode of conjunction and different node instruction collection similarly hereinafter when the function moved.In time triggering mode, upper one can be based on
The beginning of bar instruction or deadline, the time is by the timer timing inside programming；It is to be based on the section in touching mode in position
The real-time displacement of motor during certain servo-drive instructs in point；In triggering mode is circulated, cycle-index can be based on, can also
It is Infinite Cyclic.
This monitoring and scheduling PC can provide speed control, time control, position control, involution control model.In speed control
In molding formula, it is possible to achieve the crawl of separate unit or more servomotors；, can be based on internal programming in time control pattern
Clock, realizes that same time walks the function of different displacements；Under position control mode, can in the range of soft spacing permission,
Free self-defined displacement, speed, acceleration, deceleration, it is mobile or same dynamic so as to fulfill one or more servomotor；Multiple
Return under pattern, it is possible to achieve the Protection Counter Functions of one or more servo-driver or the origin in the case of powered-off fault are automatic
Recover function.
By timesharing of the live stage for different zones or the requirement controlled at the same time, this monitoring and scheduling PC can pass through difference
Different motors is associated under node instruction collection, timesharing under same monitoring and scheduling PC or at the same time is realized by different shortcut
The requirement of control.
（7）Motor action Dynamic Packet function：In monitoring and scheduling PC, operating personnel can be according to the actual requirements to servo
Motor carries out being optionally combined packet, so as to combine different motors in different node instructions, realizes Stage Equipment Control variability
Control requires.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is being invented in the technical scope disclosed, the change or replacement that can be readily occurred in, all
It is covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be described with scope of the claims
Subject to.
Claims (8)
1. the stage cooperative control method of multiple spot servo-drive, it is characterised in that：The cooperative control method is based on Stage Equipment Control
System realizes the Collaborative Control to each equipment moving on stage；
The Stage Equipment Control system includes multiple by independent servo-driver（10）The servomotor of driving and a PLC controls
Device（20）With a monitoring and scheduling PC（30）, data are carried out by Ethernet between the monitoring and scheduling PC and PLC controller and are led to
Letter, respectively by wired between the PLC controller and independent servo-driver and between adjacent independent servo-driver
Network is in communication with each other composition control network；
The cooperative control method is that monitoring and scheduling PC drives search by the periodicity time and node instruction concentrated current
After the correlated condition of node judges, multiple watched to what PLC controller issued that the present node instruction included by Ethernet
Movement instruction is taken, PLC controller is in the form of point-to-point, packet or broadcast by controlling network and servo motion instruction relevant
Independent servo-driver（10）Carry out real-time communication, independent servo-driver（10）Mechanical transmission structure is driven by servomotor
Further control each equipment collaboration movement on stage.
2. the stage according to claim 1 cooperative control method of multiple spot servo-drive, it is characterised in that：The node
Instruction set is a tree storage, by multiple nodes（201）And included node instruction（202）With correlated judgment bar
Part（203）And the set formed, each node（201）Be identified with node type of attachment of the node in tree, should
The node instruction of node and perform the correlated judgment condition that the node instruction must is fulfilled for.
3. the stage according to claim 2 cooperative control method of multiple spot servo-drive, it is characterised in that：The node
Instruction, which contains one or more, can change the independent servo-driver（10）The servo motion instruction of motion state；It is described
Correlated judgment condition（203）It is mutual based on time, cycle-index, displacement motor, external switch amount state and above-mentioned condition
Between syntagmatic.
4. the stage according to claim 1 cooperative control method of multiple spot servo-drive, it is characterised in that：The monitoring
Dispatch PC（30）The driving of periodicity time be to be driven by programming and the periodical timer that sets；It is timed to every time after reaching,
Concentrate whether one or several present nodes meet correlated judgment condition according to the node instruction preserved（203）, and then to determine
The fixed node instruction whether performed in present node（202）If meet the correlated judgment condition of corresponding node, by present node
Promoted to next level of child nodes；If being unsatisfactory for the correlated judgment condition of corresponding node, continue waiting for next timing cycle and reach.
5. the stage according to claim 4 cooperative control method of multiple spot servo-drive, it is characterised in that：The monitoring
Dispatch PC（30）Including at least network communication function module, movement setting and monitoring module, control algolithm module；The net
Network communication function module is used to form control network with the independent servo-driver and PLC controller to realize real-time Communication for Power；
The movement setting is used for realization systematic parameter, each independent servo-driver parameter, node instruction collection with monitoring module
Setting and condition monitoring；The control algolithm module is used under periodicity timedrive, according to the node set
The present node correlated judgment condition of instruction set is judged and downward recursive search.
6. the stage according to claim 1 cooperative control method of multiple spot servo-drive, it is characterised in that：The control
Network settings have heartbeat monitoring mechanism, abandon and stop immediately for the servo-drive instruction for going offline mistake even and being currently running.
7. the stage according to claim 4 cooperative control method of multiple spot servo-drive, it is characterised in that the collaboration
Control method specifically includes following steps：
Established according to the operating status of each equipment in stage structure by each servomotor, servo-driver and PLC controller phase
The control network that mutual communication is formed, and establish linking for PLC controller and monitoring and scheduling PC in control network；
Monitoring and scheduling PC creates instruction buffer and order caching, and " operating instruction caching " and " etc. are established respectively again in instruction buffer
Treat instruction buffer "；
Start detection timer, " operating instruction caching " queue under traversal root instruction；
Judge whether the operating instruction in " operating instruction caching " under root instruction runs completion, if operating instruction is completed, refer to
The dwell time of order adds 1, if the operating instruction in " the operating instruction caching " under root instruction is not completed, during the operation instructed
Between plus 1, continue travel through root instruction under " operating instruction caching " queue；
After the operating instruction in " the operating instruction caching " under root instruction is fully completed, " the operating instruction under root instruction is judged
Whether there is child node in caching " queue, continue operation child node downwards if any child node, run and complete until each child node；Such as
No child node then deletes instruction in itself；
The motor movement record respectively instructed in " operating instruction caching " under root is instructed is put into order caching；
Judged according to trigger condition and trigger the instruction in " wait instruction buffer "；
After the completion of meeting the instruction operation of trigger condition in " wait instruction buffer " queue, sub-instructions are searched in order caching,
And " operating instruction caching " and " wait instruction buffer " are put into according to sub-instructions trigger condition respectively；
Judge whether " operating instruction caching " queue and " wait instruction buffer " queue are empty, if being not sky, are then waited next time
Repeat step 3 after timers trigger）To step 8）；It is such as sky, then stops timer, prompts all instructions operation to finish.
8. the stage according to claim 7 cooperative control method of multiple spot servo-drive, it is characterised in that the queue
The operation method of middle instruction is：
S1）Monitoring and scheduling PC sends control data packet to PLC controller；The data packet includes triggering equipment axis servomotor
Enable signal, the speed of service of node instruction collection and running position；
S2）PLC controller writes internal storage location after receiving data packet, and whether just to judge the servomotor axis number in data packet
Really, as correctly, by enabled write signal, and fed back to monitoring and scheduling PC, monitoring and scheduling PC sends synchronous enabled signal, and carries out
Step S3；As wrong, progress step S5；
S3）After PLC controller receives synchronous enabled signal, corresponding motor servo driver driving servomotor is controlled to perform
Corresponding instruction；Meanwhile the implementation status information of servomotor is fed back to monitoring through PLC controller and adjusted by motor servo driver
Spend PC；
S4）Monitoring and scheduling PC judges whether the information of return is wrong, such as errorless, sends next instruction set, such as wrong operation step
Rapid S5；
S5）After monitoring and scheduling PC receives the error message of feedback, send and terminate order, PLC controller is connected to the enabled letter of stopping
Number, triggering immediately is ceased and desisted order, and servomotor shuts down.
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Application publication date: 20180420 Assignee: Hunan roof brothers Culture Technology Co.,Ltd. Assignor: HUNAN NORMAL University Contract record no.: X2023980053478 Denomination of invention: Collaborative Control Method of Multi point Servo Drive for Stage Use Granted publication date: 20200221 License type: Common License Record date: 20231222 |
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